The invention discloses an automatic driving track planning method based on a tree structure. The automatic driving track planning method comprises the following steps: accurately carrying out online modeling on a track planning problem; online solving of a trajectory planning problem is efficiently carried out; and executing the track on line, continuously monitoring the future trend of the social vehicle, and cutting the planned track on line when necessary. According to the automatic driving track planning method based on the tree structure, on the basis of statistical data in the long-term use process, the triggering frequency of an automatic driving track planning algorithm on a structured road can be reduced by 50%, and vehicle safety can still be guaranteed; according to the method, the decision planning stability of the automatic driving vehicle is improved, and the vehicle does not easily, sensitively and prematurely make meaningless response due to hesitant behaviors of external social vehicles.
本发明公开了一种基于树形结构的自动驾驶轨迹规划方法,包括:精准地对轨迹规划问题进行在线建模;高效地进行轨迹规划问题的在线求解;在线对该轨迹进行执行,并不断监测社会车辆的未来动向,在必要时对规划出的轨迹进行在线裁剪。本发明的基于树形结构的自动驾驶轨迹规划方法,基于长期使用过程中的统计数据,使用本技术可使得结构化道路上的自动驾驶轨迹规划算法触发频率下降50%且仍旧能够保障车辆安全;本方法提升了自动驾驶车辆的决策规划稳定性,车辆不会因为外界社会车辆的犹豫行为而轻易地、过于灵敏地、过早地做出无谓的响应。
Automatic driving track planning method based on tree structure
基于树形结构的自动驾驶轨迹规划方法
2024-09-17
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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