The invention discloses a lane changing obstacle avoidance track generation method and related equipment, and the method comprises the steps: calculating a geometric distance between a matching reference point and each point in an ordered set of discrete points of a target matching track through a matching point obtaining module, so as to obtain the information of the matching reference point of a vehicle on a global track; a track availability judgment module based on the distance from the obstacle judges whether the local track meets the vehicle passing requirement or not according to the judgment track discrete point ordered set, the judgment obstacle information set, the vehicle width and the redundancy so as to obtain a track availability result; a quintic polynomial local obstacle avoidance track is generated and fused with a global track through matching reference point information obtained by calling a matching point by a lane changing obstacle avoidance track generation main module and a track availability result of a track availability judgment module for judging the distance between the quintic polynomial local obstacle avoidance track and an obstacle, and an updated current global track discrete point ordered set is generated; and controlling the transverse and longitudinal directions of the vehicle based on the updated current global track discrete point ordered set.
本申请公开了一种换道避障轨迹生成方法及相关设备,包括:通过匹配点获取模块计算匹配参考点和目标匹配轨迹离散点有序集合中每个点的几何距离,以获取车辆在全局轨迹上的匹配参考点信息;通过基于与障碍物距离的轨迹可用性判定模块根据判定轨迹离散点有序集合、判定障碍物信息集合、车辆宽度和冗余量判断局部轨迹是否满足车辆通过的要求,以获取轨迹可用性结果;通过换道避障轨迹生成主模块调用匹配点获取的匹配参考点信息和于与障碍物距离的轨迹可用性判定模块的轨迹可用性结果,生成五次多项式局部避障轨迹并将其与全局轨迹融合,生成更新后当前全局轨迹离散点有序集合,并基于更新后当前全局轨迹离散点有序集合对车辆的横纵方向进行控制。
Lane changing obstacle avoidance track generation method and related equipment
一种换道避障轨迹生成方法及相关设备
2025-02-18
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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