The invention provides a trajectory planning method combining behavior estimation and retreating time domain control. The trajectory planning method comprises the following steps: S1, setting belief weights of each obstacle vehicle and advancing intention; according to the method, the POMDP is used for estimating behaviors of other traffic participants influencing a vehicle planned trajectory, opportunity condition constraints of multiple motion strategies are added in backing time domain control, so that a safe trajectory is generated, behavior prediction is performed by using the advantages of the POMDP, trajectory planning is performed by using the backing time domain control, and the method has the advantages of being simple in structure and convenient to operate. Modeling is carried out on interaction between a self-vehicle and an obstacle through a POMDP framework, so that the self-vehicle speed and action of the obstacle vehicle under multiple uncertain possible trajectories are predicted, and then non-linear optimization modeling is carried out to generate a self-vehicle safety trajectory. This planning takes into account the behavior prediction of the obstructed vehicle and the uncertainty of multiple motion trajectories in opportunity constraints in RHC.
本申请提供了一种联合行为估计和后退时域控制的轨迹规划方法,包括以下步骤:S1.设定每个障碍物车辆和行进意图的信念权重;本发明方法用POMDP来估计影响车辆计划轨迹的其他交通参与者的行为,并在后退时域控制中加入多个运动策略的机会条件约束,从而生成安全轨迹,利用POMDP的优势进行行为预测,并利用后退时域控制进行轨迹规划,通过POMDP框架对自车和障碍物之间的交互作用进行建模,从而预测障碍物车辆在不确定的多种可能轨迹下的自车速度和动作,然后进行非线性优化建模生成自车安全轨迹,这种规划考虑了障碍物车辆的行为预测和RHC中的机会约束中多个运动轨迹的不确定性。
Trajectory planning method combining behavior estimation and backing time domain control
一种联合行为估计和后退时域控制的轨迹规划方法
2024-05-14
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 |
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