The invention belongs to the field of trajectory planning of intelligent vehicles, and particularly relates to an adaptive frequency conversion management system for automatic driving trajectory planning. Comprising an information loading unit and a processing unit. Wherein the information loading unit is used for reading data such as the current instant driving speed v and acceleration a of a vehicle and the current ground lane boundary line path current; the processing unit is used for calculating the ratio rate1 between v and the allowable maximum speed vmax of the vehicle and calculating the relation rate2 between a and the allowable maximum acceleration amax of the vehicle; and the processing unit is used for calculating an incremental change rate 3 of the path current compared with the path current, calculating a value rate 4 for measuring a relative motion trend of social vehicles around the autonomous vehicle to the vehicle, calculating a parameter rate through the rate 1 to the rate 4, and calculating a time interval delta T according to the rate. According to the scheme, the planning time interval is adaptively adjusted according to the comprehensive situation data of the vehicle, and the problem that an automatic driving track planning algorithm oriented to a structured road scene is unreasonable in track planning implementation in a fixed-frequency mode is solved.
本方案属于智能车的轨迹规划领域,具体涉及自动驾驶轨迹规划自适应变频管理系统。包括:信息加载单元和处理单元。其中,信息加载单元用于读入车辆当前瞬间的行驶速度v、加速度a和当前的地面车道边界线path_current等数据;处理单元用于计算v和车辆的容许最大速度vmax之间的比例rate1,计算a和车辆的容许最大加速度amax之间的关系rate2;处理单元中用于计算path_current相比于path_previous的增量式变化rate3,用于计算衡量自动驾驶车辆周围的社会车辆向该车辆行驶的相对运动趋势的值rate4,通过rate1~rate4计算参数rateoverall,并根据rateoverall求得时间间隔ΔT。本方案根据车辆自身的综合态势数据自适应地调节规划时间间隔,解决了面向结构化道路场景的自动驾驶轨迹规划算法以定频的方式实施轨迹规划不合理的问题。
Self-adaptive frequency conversion management system for automatic driving track planning
自动驾驶轨迹规划自适应变频管理系统
2024-12-20
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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