The invention discloses an automatic driving vehicle lane changing track planning method bidirectionally coupled with prediction and planning. The method comprises the following steps: firstly, performing trajectory prediction on a target vehicle by using a cascade attention network, and then generating an optimal behavior trajectory of an autonomous vehicle based on an initial prediction trajectory of the target vehicle. And then the selected optimal behavior trajectory is input into the cascade attention network to generate a target vehicle prediction trajectory informing the planning trend. And finally, on the basis of the predicted trajectory of the target vehicle informed of planning and the generated optimal trajectory of the automatic driving vehicle, a safe, efficient and comfortable lane changing trajectory is realized by using a nonlinear model prediction controller. According to the method, bidirectional coupling of prediction and planning tasks is innovatively utilized and realized, and the safety and effectiveness of a lane changing track are ensured while the prediction precision is improved.

    本发明公开了一种双向耦合了预测与规划的自动驾驶车辆换道轨迹规划方法。本发明包括以下步骤:首先,利用一个级联注意力网络对目标车辆进行轨迹预测,再基于目标车辆的初始预测轨迹生成一条自动驾驶车辆的最优行为轨迹。然后被选取的最优行为轨迹又被输入到级联注意力网络中来生成告知了规划动向的目标车辆预测轨迹。最后,基于告知了规划的目标车辆预测轨迹与生成的自动驾驶车辆的最优轨迹,利用非线性模型预测控制器来实现一条安全、高效、舒适的换道轨迹。本发明创新地利用实现了预测与规划任务的双向耦合,提升了预测精度的同时保证了换道轨迹的安全性与有效性。


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    Title :

    Automatic driving vehicle lane changing track planning method bidirectionally coupled with prediction and planning


    Additional title:

    双向耦合了预测与规划的自动驾驶车辆换道轨迹规划方法


    Contributors:
    CHEN JIAN (author) / XIONG WENYI (author)

    Publication date :

    2024-04-09


    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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