The invention discloses a vehicle driving track prediction method for an automatic driving system. The vehicle driving track prediction method comprises the following steps: step 1, determining positions and boundaries of surrounding static obstacles; 2, track prediction is performed on an interested dynamic obstacle through a long-short-term memory network method; 3, planning a collision-free local path by using a dynamic planning optimization method; 4, calculating a proper preview distance according to the current positioning and speed of the vehicle, and determining a corresponding preview point on a local path; 5, calculating a wheel deflection angle required for reaching the preview point according to a difference value between the vehicle course and the preview point course; 6, calculating the position of the vehicle in the next step according to the kinematics of the vehicle; 7, judging whether the index value of the preview point exceeds the index value of the local path end point or not, and if yes, outputting a final result as a collision-free prediction trajectory; otherwise, returning to the step 4. The method has the technical effects that the driving track of the automatic driving vehicle can be accurately predicted on the road without the lane line, the calculation power is reduced, and collision accidents are avoided.
本发明公开了一种用于自动驾驶系统的车辆行驶轨迹预测方法,它包括步骤1、确定周围静态障碍的位置和边界;2、通过长短期记忆网络方法对感兴趣的动态障碍物进行轨迹预测;3、利用动态规划优化方法规划出无碰撞的局部路径;4、根据车辆自身当前定位与速度,计算合适的预瞄距离,确定局部路径上相应的预瞄点;5、根据车辆航向与预瞄点航向的差值,计算到达预瞄点所需的车轮偏角;6、根据车辆运动学推算下一步的车辆自身位置;7、判定预瞄点的索引值是否超出局部路径终点索引值,若是,则输出最终结果为无碰撞的预测轨迹;否则,返回步骤4。本发明的技术效果是,自动驾驶车辆在没有车道线的道路上能够准确预测行驶轨迹,减小算力,避免发生碰撞事故。
Vehicle driving track prediction method for automatic driving system
一种用于自动驾驶系统的车辆行驶轨迹预测方法
2024-05-17
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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