The invention provides a vehicle longitudinal cruise trajectory planning method and device, equipment and a storage medium, and the method comprises the steps: carrying out the motion state modeling of a target vehicle according to the driving data of the target vehicle, and obtaining the motion state data of the target vehicle in a prediction time domain; sampling a first preset number of time sampling points in the prediction time domain, and obtaining motion state point data corresponding to each time sampling point from the motion state data; sampling a second preset number of acceleration sampling values in an acceleration interval set by the cruise of the vehicle; solving a quintic polynomial used for representing a longitudinal cruise trajectory according to the obtained motion state point data and the acceleration sampling value, and constructing a multi-dimensional polynomial trajectory matrix; the longitudinal cruise trajectory of the cost vehicle is generated by solving an optimal solution of the multi-dimensional polynomial trajectory matrix using a cost function. The method combines the change of the relative state of the vehicle and the target vehicle to perform cruise planning, and the stability is high.

    本申请提供一种车辆纵向巡航轨迹的规划方法、装置、设备及存储介质,方法包括:根据目标车辆的行驶数据对目标车辆进行运动状态建模,获取目标车辆在预测时域内的运动状态数据;在预测时域内采样第一预设数量个时间采样点,并从运动状态数据中获取每个时间采样点对应的运动状态点数据;在本车巡航设置的加速度区间内采样第二预设数量个加速度采样值;根据获得的运动状态点数据和加速度采样值对用于表示纵向巡航轨迹的五次多项式进行求解,构建一个多维的多项式轨迹矩阵;通过采用代价函数求解多维的多项式轨迹矩阵的最优解来生成本车的纵向巡航轨迹。该方法联合本车和目标车辆相对状态的变化进行巡航规划,稳定性高。


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    Title :

    Planning method, device and equipment for longitudinal cruise trajectory of vehicle and storage medium


    Additional title:

    车辆纵向巡航轨迹的规划方法、装置、设备及存储介质


    Contributors:
    YUAN RUNZHI (author)

    Publication date :

    2024-01-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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