The invention provides a local dynamic planning scheduling method under a Frenet coordinate system based on a laser radar, and relates to the technical field of vehicle-road cooperation. The method specifically comprises the steps that strip mine road information is acquired, and a curve crossing road section conflict model is constructed; a target mine card and a non-target mine card in the model run according to a preset initial track, safe distance detection, opposite vehicle conflict detection and prediction and kinematics and collision detection are performed on the target mine card in real time in the running process, the running state is adjusted, and a plurality of candidate tracks are generated according to the running state of the target mine card; when the target mine card enters the intersection, judging whether the target mine card has a vehicle priority conflict at the intersection according to the candidate trajectory, and generating an effective trajectory list by setting a conflict resolution constraint; and calculating the cost of all the tracks in the effective track list and selecting the track with the minimum cost as the optimal track, thereby realizing safe, stable and conflict-free transportation and driving of the vehicle at the curve intersection.

    本发明提供一种基于激光雷达的Frenet坐标系下的局部动态规划调度方法,涉及车路协同技术领域。该方法具体包括:获取露天矿道路信息并构建弯道交叉路段冲突模型;该模型中的目标矿卡和非目标矿卡均按照预设的初始轨迹行驶,在行驶过程中实时对目标矿卡进行安全车距检测、对向车辆冲突检测预测以及运动学和碰撞检测并调整行驶状态,再根据目标矿卡的行驶状态生成若干条候选轨迹;当目标矿卡进入交叉路口时,根据候选轨迹判断目标矿卡在该交叉路口是否存在车辆优先级冲突,通过设定消解冲突的约束生成有效轨迹列表;计算有效轨迹列表中所有轨迹的成本并选择成本最小的轨迹为最优轨迹,从而实现车辆在弯道交叉口安全平稳的无冲突的运输行驶。


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    Title :

    Local dynamic planning scheduling method under Frenet coordinate system based on laser radar


    Additional title:

    一种基于激光雷达的Frenet坐标系下的局部动态规划调度方法


    Contributors:
    ZHANG LINCONG (author) / ZHANG WENBO (author) / WEI KEFENG (author) / WANG DONGXU (author) / LIANG XIAOYU (author)

    Publication date :

    2024-07-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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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