The invention relates to a road uniform rolling method based on automatic driving multi-path generation, and belongs to the technical field of automatic driving path planning. The problems that in the prior art, the efficiency of manual road frost rut evaluation and manual transverse offset setting is low, road pits are caused by non-uniform road rolling, and the vehicle driving smoothness is affected are solved. According to the method, an offset path capable of ensuring kinematics feasibility of vehicle driving is obtained by designing an offset function with configurable amplitude and adjustable derivative maximum value, then the offset of each path point is calculated, the position of each original path point after offset is automatically calculated, and the offset path is obtained; the method has good adaptability to different road conditions, and the offset is automatically calculated, so that the calculation efficiency is improved; and the effect of uniformly rolling a driving road surface is realized by using a periodic offset path translation mode, so that the driving smoothness of the vehicle is ensured.
本发明涉及一种基于自动驾驶多路径生成的道路均匀碾压方法,属于自动驾驶路径规划技术领域,解决了现有技术中人工评估路面翻浆车辙和手工设置横向偏移量的效率低、道路碾压不够均匀导致路面凹坑并影响车辆行驶平顺性的问题。本发明通过设计幅值可配置、导数最大值可调的偏移量函数来获取能够保证车辆行驶的运动学可行性的偏移路径,然后计算每个路径点的偏移量,进而自动计算各个原始路径点偏移后的位置,得到偏移路径;对不同路况具有很好的适应性,且自动计算偏移量提高了计算效率;通过使用周期偏移路径平移的方式实现了均匀碾压行车路面的效果,确保车辆行驶平顺性。
Uniform road rolling method based on automatic driving multi-path generation
一种基于自动驾驶多路径生成的道路均匀碾压方法
2024-03-29
Patent
Electronic Resource
Chinese
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