The invention discloses an automatic driving track planning method for actively relieving motion sickness of an automobile passenger in the technical field of automatic driving, which comprises the following steps of: smoothing a reference path; a reference path with smaller curvature and oscillation frequency is generated, and trajectory planning is decoupled into path planning based on a spiral curve and speed planning based on a Bezier curve; a path planning result and a corresponding speed planning result are combined pairwise to obtain a track cluster, and a passenger motion sickness occurrence rate calculation model under the condition of no person replacement sensor is established based on a six-degree-of-freedom subjective vertical conflict model; according to the method, a passenger motion degree cost evaluation function is obtained through calculation, cost evaluation is carried out on each track in the obtained track cluster, track efficiency, comfort and driving behavior reasonability are evaluated, the track with the minimum cost is obtained through integration, namely the optimal track, and more comfortable riding experience can be provided.
本发明公开自动驾驶技术领域的一种主动减缓汽车乘员晕动症的自动驾驶轨迹规划方法,包括对参考路径作平滑处理,生成曲率大小和振荡频率均更小的参考路径、对轨迹规划解耦为基于螺旋曲线的路径规划和基于贝塞尔曲线的速度规划,并将路径规划结果和对应的速度规划结果进行两两组合得到轨迹簇、基于六自由度主观垂直冲突模型建立无人替传感器条件下乘员晕动症发生率计算模型、在无人替传感器条件下乘员晕动症发生率计算模型中,计算得到乘员运动度成本评价函数以及对得到的轨迹簇中的每条轨迹,进行成本评价,评估轨迹效率、舒适性、驾驶行为的合理性,综合得到成本最小的轨迹即为最优轨迹,本发明可以提供更加舒适的乘坐体验。
Automatic driving track planning method for actively relieving motion sickness of automobile passenger
一种主动减缓汽车乘员晕动症的自动驾驶轨迹规划方法
2024-11-19
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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