The invention relates to the technical field of automatic driving, in particular to an automatic driving motion planning control system based on space-time decoupling and a vehicle. The control system comprises a motion planning unit, a control instruction generation unit and a motion control unit. The motion planning unit is used for acquiring the state information, the environment perception information and the behavior prediction data of the vehicle, and planning the motion path and the motion speed of the vehicle in a layered manner according to the state information, the environment perception information and the behavior prediction data of the vehicle; the control instruction generation unit is used for generating a corresponding motion control instruction by taking the expected driving track as a target; and the motion control unit is used for correspondingly controlling each execution mechanism of the vehicle according to the motion control instruction so as to complete automatic driving of the vehicle. It can be seen that the trajectory planning problem is decomposed into two sub-problems of motion path planning and speed planning, the data processing efficiency and the response speed of the system are improved, and the response requirement of the complex traffic environment is met.

    本申请涉及自动驾驶技术领域,尤其涉及一种基于时空解耦的自动驾驶运动规划控制系统及车辆。该控制系统包括:运动规划单元、控制指令生成单元以及运动控制单元。运动规划单元,用于获取车辆的状态信息、环境感知信息以及行为预测数据,根据车辆的状态信息、环境感知信息以及行为预测数据分层规划出车辆的运动路径以及运动速度;控制指令生成单元,用于以期望行驶轨迹为目标,生成对应的运动控制指令;运动控制单元,用于根据运动控制指令对车辆的各执行机构进行对应的控制,以完成车辆自动驾驶。可以看出,本申请中将轨迹规划问题分解为运动路径规划和速度规划两个子问题,提高了系统的数据处理效率和响应速度,以满足复杂交通环境的响应需求。


    Access

    Download


    Export, share and cite



    Title :

    Automatic driving motion planning control system based on space-time decoupling and vehicle


    Additional title:

    一种基于时空解耦的自动驾驶运动规划控制系统及车辆


    Contributors:
    WANG ZHEN (author) / LIN YUQING (author) / XUE DINGRUI (author) / ZHAO XIANGMU (author) / CHENG JINGJUN (author) / PENG CHENG (author) / LI SHAOBO (author) / WANG FEIYAN (author) / LI JIWEI (author)

    Publication date :

    2025-01-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



    Automatic driving vehicle motion planning method based on linear constraint

    CHEN JIAN / ZHU XIAOYUAN / MA YAN | European Patent Office | 2021

    Free access

    Space-time decoupling high-speed single-lane driving method and vehicle

    ZHANG HANGJIA / ZHENG XINYU / LOU JUNJIE et al. | European Patent Office | 2023

    Free access

    Motion track planning method for automatic driving articulated vehicle

    YANG HAISONG | European Patent Office | 2022

    Free access

    Decoupling mechanism, driving assembly device, vehicle and vehicle driving control method

    ZHU HAIBO / WANG JIAN / YAO YAN et al. | European Patent Office | 2024

    Free access

    Vehicle Motion Control for Automatic Driving in Local Area with Parking Space

    Omae, M. / Hashimoto, N. / Shimizu, H. et al. | British Library Online Contents | 2004