The invention discloses a turning trajectory optimization method for a trailer, which comprises the following steps: firstly, judging whether a vehicle needs trajectory optimization, secondly, obtaining an initial input boundary of trajectory optimization based on the current position information of the vehicle, and obtaining an input boundary after an obstacle is processed by combining the longitudinal distance of the center of the obstacle in a frenet coordinate system; based on the input boundary, the turning radius of the trailer during turning and the leftmost end face and the rightmost end face of the trailer are combined, the input boundary considering trailer movement is obtained, and the safety distance of the inner side of the trailer and the safety distance of the outer side of the trailer are obtained through calculation; searching the safe distance between the inner side and the outer side calculated in the previous step on the basis of the curvature, and adding the safe distance into an input boundary after the obstacle is processed; and according to the finally obtained boundary, inputting the boundary into a solver to obtain a final collision-free track considering the trailer motion during turning. The stability, safety and trafficability of the automatic driving system can be greatly improved.
本发明公开了一种带挂车的过弯轨迹优化方法,首先对车辆是否需要进行轨迹优化进行判断,其次,基于自车当前位置信息获得轨迹优化的初始输入边界,再结合障碍物中心在frenet坐标系下的纵向距离,得到处理障碍物后的输入边界;基于输入边界并结合挂车在转弯时的转弯半径以及挂车的最左侧端面和最右侧端面,得到考虑挂车运动的输入边界,并通过计算获得挂车内侧的安全距离和挂车外侧的安全距离;再基于该曲率查找前述步骤中计算得到的内外侧安全距离,加到处理障碍物后的输入边界里;根据最终得到的边界,输入到求解器中得到最终无碰撞且考虑在过弯时挂车运动的轨迹。本发明能够极大提升自动驾驶系统的稳定性、安全性和通过性。
Method for optimizing turning track of trailer
一种带挂车的过弯轨迹优化方法
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |