The invention provides a vehicle U-turn trajectory planning method based on a search algorithm. The method comprises the following steps: acquiring first geometric coordinate data and second geometric coordinate data of a vehicle entering and leaving a lane center line and a lane boundary line; carrying out discrete sampling on the data to obtain a starting state and a stopping state; when the distance between the right side boundary lines of the two lanes is greater than the passable threshold value, obtaining a first cost function; when the distance between the center lines of the two lanes is larger than the minimum curvature radius, the vehicle can turn around in a single turning direction; acquiring a driving-in angle and a driving-out angle of the vehicle in the lane; and according to the driving-in angle, the driving-out angle, the cost function and the vehicle deflection angle, a mixed A star algorithm is executed to obtain a vehicle turning track. According to the method, the calculation amount is reduced, strategy selection is increased, the turning track close to manual driving is generated under the condition that the user allows to cross the boundary line, the travelability of the vehicle is guaranteed, and meanwhile the interactivity with the user is improved.

    本发明提供了一种基于搜索算法的车辆掉头轨迹规划方法,所述方法包括获取车俩驶入和驶出车道中心线和车道边界线的第一几何坐标数据及第二几何坐标数据;对上述数据离散采样得到起始态和终止态;当两条车道右侧边界线之间的距离大于所述可通行阈值时,获取第一成本函数;当两条车道中心线之间的距离大于所述最小曲率半径时,车辆可单一转弯方向掉头;获取车辆在车道中的驶入角度和驶出角度;根据所述驶入角度、驶出角度、成本函数和所述车辆偏转角度执行混合A星算法得到车辆掉头轨迹。减少了计算量,并增加了策略选择,在用户允许跨越边界线条件下,生成接近人工驾驶的掉头轨迹,保证了车辆的可行驶性,同时提高了与用户的交互性。


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    Title :

    Vehicle U-turn trajectory planning method, device and equipment based on search algorithm and storage medium


    Additional title:

    一种基于搜索算法的车辆掉头轨迹规划方法、装置、设备和存储介质


    Contributors:
    LIN SHUSEN (author) / CHEN GUISONG (author) / YANG XIAOJUN (author) / ZHOU XUN (author) / SONG DEQIANG (author)

    Publication date :

    2024-02-20


    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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