The invention belongs to the field of automatic driving automobiles, and particularly relates to an automatic driving automobile path and speed collaborative planning method and device, and the method comprises the steps: constructing a whole automobile dynamic model and a tire dynamic model, obtaining the dynamic stress limit of a tire, and taking the dynamic stress limit as the motion limit boundary of an automobile; a quasi-steady-state balance method is adopted, vehicle steady-state balance states under different accelerator opening degrees and system pressures are traversed, transverse acceleration and longitudinal acceleration at each moment are recorded, and an improved G-G graph is obtained through vector calculation; based on the obtained improved G-G graph, a forward-backward Euler method is adopted to establish an optimal speed model; establishing a trajectory optimization model under the shortest travel time by adopting a road segmentation method; and constructing an optimal path and speed collaborative planning model by adopting quadratic programming based on the road safety boundary and the vehicle dynamics constraint in combination with the optimal speed model and the trajectory optimization model, and solving to obtain an optimal path and speed plan.
本发明属于自动驾驶汽车领域,具体涉及一种自动驾驶汽车路径与速度协同规划方法及装置,包括:构建整车动力学模型与轮胎动力学模型,得到轮胎的动态受力极限,并将其作为车辆的运动极限边界;采用准稳态平衡法,遍历不同油门开度与制度压力下的车辆稳态平衡状态,记录每一时刻的横向加速度和纵向加速度,矢量计算得到改进G‑G图;基于得到的改进G‑G图,采用向前‑向后欧拉法,建立最优速度模型;采用道路分段法,建立最短行程时间下的轨迹优化模型;基于道路安全边界与车辆动力学约束,结合最优速度模型和轨迹优化模型,采用二次规划构建最优路径与速度协同规划模型,求解得到最优路径与速度规划。
Collaborative planning method and device for path and speed of autonomous vehicle
一种自动驾驶汽车路径与速度协同规划方法及装置
2024-12-10
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 |
Multi-target collaborative path planning and scheduling system and method for autonomous vehicle
European Patent Office | 2025
|SPEED-DEPENDENT REQUIRED LATERAL CLEARENCE FOR AUTONOMOUS VEHICLE PATH PLANNING
European Patent Office | 2021
|SPEED-DEPENDENT REQUIRED LATERAL CLEARANCE FOR AUTONOMOUS VEHICLE PATH PLANNING
European Patent Office | 2020
|Speed-dependent required lateral clearance for autonomous vehicle path planning
European Patent Office | 2020
|Speed-dependent required lateral clearance for autonomous vehicle path planning
European Patent Office | 2024
|