The invention discloses a side parking trajectory planning method, which comprises the following steps of: projecting a predicted trajectory of an obstacle according to a vehicle position, a target lane and a final position to obtain an obstacle influencing lane change; within each preset moment, one or more lane changing points are obtained according to the vehicle speed performance and the position of the obstacle; corresponding target parking positions are calculated for the lane changing points according to the lane changing parameters, wherein the target parking positions comprise one or more of the final position, the position of a static obstacle, the braking comfort degree and the parking forbidding area; under a frenet coordinate system, constraints of obstacles and road edges are established in the s direction, track continuity, transverse offset and derivative constraints of the transverse offset are considered, and a smooth lane changing track is obtained through calculation by using a quadratic programming solver; and according to the cost function, calculating to obtain a lane changing track corresponding to the minimum cost value, and confirming the lane changing track as a target side parking track. In this way, it can be guaranteed that a smooth, safe, comfortable and executable track is generated in the dynamic environment, and it is guaranteed that the effect of pulling over is finally completed.

    本发明公开了一种靠边停车轨迹规划方法,根据自车位置、目标车道和终点位置,将障碍物的预测轨迹进行投影,得到影响变道的阻碍物;在每一预设时刻内,根据自车速度性能和障碍物的位置得到一个或多个变道点;根据变道参数为变道点计算得到对应的目标停车位置,包括终点位置、静态障碍物的位置、刹车舒适度和禁停区域中的一种或多种;在frenet坐标系下,沿着s方向建立障碍物和道路边沿的约束,并考虑轨迹连续性和横向偏移及其导数约束,使用二次规划求解器计算得到平滑的变道轨迹;根据代价函数计算得到最小代价值对应的变道轨迹确认为目标靠边停车轨迹。这样,可以保证在动态环境下生成平滑的安全、舒适、可执行的轨迹,保证最后完成靠边停车的效果。


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    Title :

    Side parking track planning method, device and equipment and storage medium


    Additional title:

    一种靠边停车轨迹规划方法、装置、设备及存储介质


    Contributors:
    DAI LINGCHENG (author) / HUANG ZIJUN (author) / GAO YANG (author)

    Publication date :

    2024-06-14


    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



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