The invention discloses an automatic driving vehicle collision safety protection method and device based on a safety area, and belongs to the field of automatic driving. The method comprises the following steps: for each updating cycle, calculating an occupied area set of all obstacle vehicles in a planning moment so as to calculate a safe area in the planning moment; calculating a terminal state set at the maximum planning moment based on the current pose speed information of the vehicle, the road structure and a preset acceleration set; respectively determining a corresponding track point set when each terminal state in the terminal state set is used as an end point, and screening a safe terminal state based on the occupied area set; and determining a planning track by taking the state of the security terminal as a target and combining the security region as a constraint condition. According to the scheme, the discrete terminal state is used for decision making, and the method can be suitable for most structured roads; the scene description complexity of the planning module can be reduced by using the security area as a constraint condition.
本发明公开了一种基于安全区域的自动驾驶车辆碰撞安全防护方法和装置,属于自动驾驶领域。方法包括:针对每一个更新周期,均执行:计算规划时刻内所有障碍车的占用区域集合,以计算规划时刻内的安全区域;基于自车的当前位姿速度信息、道路结构和预设的加速度集合,计算最大规划时刻时的终端状态集合;分别确定以终端状态集合中每一个终端状态作为终点时对应的轨迹点集合,以基于占用区域集合筛选安全终端状态;将安全终端状态作为目标,结合安全区域作为约束条件,确定出规划轨迹。本方案利用离散的终端状态进行决策可以适用于大部分结构化道路;使用安全区域作为约束条件可以降低规划模块的场景描述复杂度。
Automatic driving vehicle collision safety protection method and device based on safety area
基于安全区域的自动驾驶车辆碰撞安全防护方法和装置
2024-09-10
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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