The invention relates to a transverse reference position decision-making method for automatic driving path planning and a vehicle. The method comprises the steps of obtaining a driving boundary allowing vehicle driving and an offset decision in a lane; constructing a frenet coordinate system based on the center line of the lane; discretizing the left side boundary and the right side boundary of the driving boundary in the longitudinal direction to obtain boundary point pairs; longitudinally traversing each boundary point pair to obtain transverse limit positions corresponding to different boundary point pairs; obtaining an initial transverse reference position based on an offset decision and transverse limit analysis; an obstacle detection boundary and an obstacle container of the vehicle are set, and obstacles in the longitudinal direction are traversed and classified; matching avoidance decisions for obstacles at different positions in the longitudinal direction according to the obstacle classification result, and calculating a transverse reference position; and filtering the transverse reference positions of different positions to obtain the filtered transverse reference position. The transverse reference position is used as a path planning reference, so that safe and stable driving of the vehicle is ensured, and the planning efficiency is improved.
本申请涉及一种用于自动驾驶路径规划的横向参考位置决策方法及车辆,其包括获取车道内允许车辆行驶的行驶边界和偏移决策;基于车道的中心线构建frenet坐标系;对行驶边界的左、右侧边界在纵向进行离散化获得边界点对;纵向遍历各边界点对获取不同边界点对所对应的横向极限位;基于偏移决策和横向极限位分析获得初始横向参考位置;设定车辆的障碍检测边界和障碍容器,遍历纵向方向上的障碍物并分类;根据障碍物分类结果对纵向方向上不同位置的障碍物匹配避让决策并计算横向参考位置;对不同位置的横向参考位置进行滤波处理,得到滤波后的横向参考位置。其通过横向参考位置作为路径规划参考,保证了车辆安全且稳定行驶,提高了规划效率。
Transverse reference position decision method for automatic driving path planning and vehicle
一种用于自动驾驶路径规划的横向参考位置决策方法及车辆
2024-07-12
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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