The invention provides an automatic driving path planning method based on full-pure embedding and trajectory following. The method comprises the following steps: acquiring a corresponding automatic driving vehicle and path planning data; establishing a vehicle path planning model; converting the vehicle path planning model into a nonlinear planning form and constructing a corresponding embedded system; solving an embedding system of the path planning model by using a full-pure embedding method to obtain a path planning function of the autonomous vehicle; and returning the path drawing function of the autonomous vehicle to the vehicle, and performing path and vehicle control. According to the fast and flexible full-pure embedding method and the brand-new path planning method based on track following, the defects that an existing common automatic driving path planning method is low in convergence speed, irregular in convergence domain and the like are overcome; meanwhile, the defects that an existing iteration method based on a prediction-correction interior point method and the like is large in calculation amount, long in consumed time, large in storage space consumption and the like are overcome; and the calculation efficiency, the scale and the precision are remarkably improved.
本发明提供一种基于全纯嵌入和轨迹跟随的自动驾驶路径规划方法,包括获取相应的自动驾驶车辆及路径规划数据;建立车辆路径规划模型;将车辆路径规划模型转化为非线性规划形式并构建相应的嵌入系统;运用全纯嵌入法求解路径规划模型的嵌入系统,得到自动驾驶车辆的路径规划函数;将自动驾驶车辆的路径划函数回传车辆,进行路径及车辆控制。本发明提出的快速灵活全纯嵌入法和轨迹跟随的全新路径规划方法,解决现有常用自动驾驶路径规划方法收敛速度慢,收敛域不规则等缺陷,同时也解决现有基于预测‑校正的内点法等的迭代方法计算量大、耗时长、存储空间消耗多等缺陷;在计算效率、规模和精度上都有显著提升。
Automatic driving path planning method based on full-pure embedding and trajectory following
一种基于全纯嵌入和轨迹跟随的自动驾驶路径规划方法
2025-02-14
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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