The invention relates to the technical field of vehicles, in particular to an automatic driving vehicle track planning method and a vehicle, and the method comprises the steps: obtaining the motion data of a current vehicle and the motion data of a target vehicle; predicting the motion state of the current vehicle in the target time domain according to the motion data of the current vehicle, and predicting the motion state of the target vehicle in the target time domain according to the motion data of the target vehicle; and identifying a risk feature boundary of the position uncertainty of the target vehicle under the condition of network delay, and planning a driving track of the current vehicle based on the risk feature boundary and the respective motion states of the current vehicle and the target vehicle in the target time domain. Therefore, the problems that in the prior art, the uncertainty of the obstacle vehicle in the planning target is not considered, optimal path planning is difficult to achieve, and the scene adaptability of an automatic driving system is reduced are solved.
本申请涉及车辆技术领域,特别涉及一种自动驾驶车辆轨迹规划方法及车辆,其中,方法包括:获取当前车辆的运动数据和目标车辆的运动数据;根据当前车辆的运动数据预测当前车辆在目标时域内的运动状态,并根据目标车辆的运动数据预测目标车辆在目标时域内的运动状态;识别网络延迟情况下目标车辆位置不确定性的风险特征边界,基于风险特征边界和当前车辆与目标车辆在目标时域内各自的运动状态规划当前车辆的行驶轨迹。由此,解决了相关技术中中未考虑规划目标中障碍物车辆的不确定性难以实现最优化的路径规划,降低了自动驾驶系统的场景适应能力等问题。
Automatic driving vehicle trajectory planning method and vehicle
自动驾驶车辆轨迹规划方法及车辆
2024-11-22
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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