The invention discloses a curve running small-curvature trajectory planning method for an automatic driving semi-trailer train. The curve running small-curvature trajectory planning method comprises the steps that S1, the state quantity of the train is acquired; s2, the outer contours of the tractor and the semitrailer are covered with a circle and an ellipse respectively, the mapping outer contours of the circle and the ellipse are obtained, and the midpoint position coordinates of the front axle of the tractor and the axle of the semitrailer and the circle centers of the circle and the ellipse are determined; s3, solving the improved Minkowski sum of the circle and the static and dynamic obstacles; s4, confirming constraint conditions; s5, determining a cost function; s6, generating an initial track connecting the starting point and the target point of the vehicle, and smoothing the initial track by using a spline curve; s7, constructing an inner point penalty function; solving a nonlinear programming problem under complex constraints through a CILQR algorithm; s8, solving the LQR by using a dynamic programming method to obtain an optimized trajectory; and S9, carrying out CILQR iterative solution on the optimized trajectory to obtain an optimal trajectory.
本发明公开了一种自动驾驶半挂汽车列车弯道行驶小曲率轨迹规划方法,包括:S1,获取自车的状态量;S2,用圆和椭圆分别覆盖牵引车和半挂车的外轮廓,得到圆和椭圆的映射外轮廓,确定牵引车前轴与半挂车轴的中点位置坐标和圆与椭圆的圆心;S3,求圆与静态、动态障碍物的改进Minkowski sum;S4,确认约束条件;S5,确定代价函数;S6,生成连接车辆起点与目标点的初始轨迹,用样条曲线对所述初始轨迹进行平滑处理;S7,构造内点惩罚函数;通过CILQR算法求解复杂约束下的非线性规划问题;S8,用动态规划法求解LQR,得到优化后的轨迹;S9,对优化后的轨迹进行CILQR迭代求解,得到最优轨迹。
Method for planning curve running small-curvature trajectory of automatic driving semi-trailer train
一种自动驾驶半挂汽车列车弯道行驶小曲率轨迹规划方法
2023-12-22
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
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