The embodiment of the invention provides a vehicle target trajectory constraint determination method and device, equipment and a storage medium. The method comprises the steps of calculating potentials of a plurality of actuators of a vehicle based on a road adhesion coefficient, performing dynamic potential conversion of the whole vehicle to obtain dynamic trajectory constraint information of the vehicle, determining comfort trajectory constraint information of the vehicle based on road information, obstacle information and in-vehicle member identification information, and determining the comfort trajectory constraint information of the vehicle according to the determined comfort trajectory constraint information. And carrying out fusion processing on the dynamic trajectory constraint information and the comfort trajectory constraint information to obtain target trajectory constraint information of the vehicle. According to the method, the chassis dynamic characteristics, the comfort requirement, the complex driving environment and other factors of the vehicle are comprehensively considered, and accurate constraint and adjustment of the vehicle driving track are achieved. The driving safety and stability are improved, the driving comfort and the passenger experience are optimized, and meanwhile the intelligent level of the automatic driving system and the vehicle driving efficiency and energy saving performance are improved.
本申请实施例提供一种车辆目标轨迹约束的确定方法、装置、设备和存储介质。该方法包括:基于路面附着系数,对车辆的多个执行器的潜能进行计算,并进行整车动态潜能转换,得到车辆的动力学轨迹约束信息,基于路面信息、障碍物信息、车内成员识别信息,确定车辆的舒适性轨迹约束信息,将动力学轨迹约束信息和舒适性轨迹约束信息进行融合处理,得到车辆的目标轨迹约束信息。上述方法通过综合考虑车辆的底盘动力学特性、舒适性需求以及复杂驾驶环境等因素,实现了对车辆行驶轨迹的精确约束和调整。不仅提高了行驶的安全性和稳定性,还优化了驾驶舒适性和乘客体验,同时提升了自动驾驶系统的智能化水平和车辆行驶效率与节能性。
Vehicle target trajectory constraint determination method and device, equipment and storage medium
车辆目标轨迹约束的确定方法、装置、设备和存储介质
2024-12-27
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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