The invention discloses a crossroad conflict situation trajectory planning method, and belongs to the technical field of automatic control. The invention aims to construct a crossroad conflict condition trajectory planning method for a crossroad planning optimal control problem according to environment information, interactive vehicle information, a crossroad passing constraint condition and a vehicle kinematics constraint condition. According to the method, firstly, crossroad and interactive vehicle trajectory modeling is performed, then the optimal control problem is constructed, and when the optimal control problem is constructed, the kinematic characteristics of the vehicle and the constraint conditions of the driving process are considered, so that the planned trajectory is ensured to be feasible. The planning method provided by the invention can perfectly solve the problem of driving conflicts at the crossroad and help the automatic driving vehicle to safely pass through the crossroad.
一种十字路口冲突情况轨迹规划方法,属于自动化控制技术领域。本发明的目的是根据环境信息、交互车辆信息、路口通行约束情况和本车运动学约束情况,构建了十字路口规划最优控制问题的十字路口冲突情况轨迹规划方法。本发明首先进行十字路口和交互车辆轨迹建模,然后构建最优控制问题,在构建最优控制问题时,考虑车辆运动学特性和行驶过程的约束条件,保证了规划出的轨迹切实可行。本发明规划方法可以完美的解决十字路口下驾驶冲突问题,帮助自动驾驶车辆安全通过十字路口。
Crossroad conflict situation trajectory planning method
十字路口冲突情况轨迹规划方法
2024-05-03
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 |
CROSSROAD DANGER WARNING SYSTEM BASED ON SITUATION PREDICTION
European Patent Office | 2022
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