The invention provides a trajectory smoothing method and device for an automatic driving vehicle and electronic equipment, and the method comprises the steps: constructing a speed vector including a controlled vehicle and a corresponding reference speed vector according to a reference position vector corresponding to the reference line information of the controlled vehicle by taking a target position vector corresponding to the controlled vehicle as a solving target; and a target function of the acceleration vector of the controlled vehicle and the corresponding reference acceleration vector; solving the target function through the pseudo-inverse matrix, and determining a corresponding target position vector as a preliminary smooth trajectory; and determining whether the controlled vehicle has a collision risk, if so, updating the reference position vector according to the shortest distance, reconstructing an objective function according to the updated reference position vector, solving the reconstructed objective function, and determining a corresponding optimized smooth trajectory. The real-time response capability can be improved through relatively low calculation complexity, and one-dimensional motion planning of the automatic driving vehicle in a complex traffic environment can be efficiently and safely realized.

    本公开提供了一种自动驾驶车辆的轨迹平滑方法、装置及电子设备,根据被控车辆参考线信息对应的参考位置向量,以被控车辆对应目标位置向量为求解目标,构建包括被控车辆的速度向量与对应参考速度向量,以及被控车辆的加速度向量与对应参考加速度向量的目标函数;通过伪逆矩阵求解目标函数,确定对应的目标位置向量为初步平滑轨迹;确定被控车辆是否存在碰撞风险,若存在,则根据最短距离更新参考位置向量,并根据更新后的参考位置向量重构目标函数,求解重构后的目标函数,确定对应的优化平滑轨迹。可以通过较低的计算复杂度提升实时响应能力,高效、安全地实现自动驾驶车辆在复杂交通环境中的一维运动规划。


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    Title :

    Track smoothing method and device for autonomous vehicle and electronic equipment


    Additional title:

    一种自动驾驶车辆的轨迹平滑方法、装置及电子设备


    Contributors:
    LIU YANG (author) / TIAN LEI (author) / QIN TAO (author) / WANG PENGCHENG (author) / NIU GUANGZHI (author) / JI XUBIN (author)

    Publication date :

    2024-07-05


    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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