The invention relates to a method for planning a driving trajectory of a motor vehicle (4), comprising the following steps: 1) evaluating (200) a current driving situation; 2) determining an adjusted driving maneuver on the basis of the evaluated driving situation; 3) calculating the number of operating points (A1 to A4) of the trajectory on the basis of the evaluated driving situation and the determined driving maneuver; 4) discretizing the current surroundings information and/or the vehicle information at each of the working points (A1 to A4) of the trajectory; 5) selecting and integrating (300) relevant ambient data for each operating point (A1 to A4) on the basis of the domain-specific information; 6) linearizing the selected and integrated ambient environment data; 7) establishing a QP model by using the linearized surrounding environment data; 8) solving (400) the QP model by means of a QP solver; 9) repeating (500) steps 1) to 8) according to the convergence situation of the solution, taking into account the solution of the QP solver when repeating steps 1) to 8).

    本发明涉及一种机动车辆(4)的驾驶操控轨迹的规划方法,所述规划方法包括以下步骤:1)评估(200)当前驾驶情形;2)基于所评估的驾驶情形测定调整后的驾驶操控;3)基于所评估驾驶情形和所测定的驾驶操控,计算轨迹的工作点(A1至A4)的数量;4)在轨迹的工作点(A1至A4)的每个工作点上对当前周围环境信息和/或车辆信息进行离散处理;5)基于特定域信息,为每个工作点(A1至A4)选择并整合(300)相关的周围环境数据;6)将所选择和整合的周围环境数据线性化;7)使用线性化的周围环境数据建立QP模型;8)借助QP求解器求解(400)QP模型;9)根据解决方案的收敛情况重复(500)步骤1)至8),在重复步骤1)至8)时,将QP求解器的解决方案考虑在内。


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    Title :

    Track planning method for driving control of motor vehicle, computer program product, computer readable storage medium and vehicle


    Additional title:

    机动车辆驾驶操控的轨迹规划方法、计算机程序产品、计算机可读存储介质及车辆


    Contributors:

    Publication date :

    2024-05-14


    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen




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