The invention relates to a method for planning a target trajectory of an autonomous vehicle (1), in which a mass value (Q) is determined for each object (2, 3) detected within a planning range (P), said mass value giving a measure for the detection reliability of the object (2, 3). For each object (2, 3), a minimum permissible acceleration (aQ) at which the vehicle (1) brakes to the object (2, 3) is determined as a function of the mass value (Q) of the object. The trajectory candidates and the object costs determined therefor are evaluated as a function of the acceleration (ax (t)) specified by the respective trajectory candidate and as a function of the minimum allowable acceleration (aQ) during braking to the object (2, 3). The target trajectory is selected as a function of the trajectory cost from the set of trajectory candidates, and additionally taking into account the evaluated trajectory candidate and the object cost determined therefor.
本发明涉及一种用于规划自动驾驶车辆(1)的目标轨迹的方法,其中,为在规划范围(P)内探测的每个物体(2、3)确定质量值(Q),其给定对于物体(2、3)探测可靠性的度量。对于每个物体(2、3),根据该物体的质量值(Q)确定车辆(1)制动到物体(2、3)的最低允许加速度(aQ)。轨迹候选和为其确定的物体成本根据由相应轨迹候选指定的加速度(ax(t))以及根据制动到物体(2、3)期间的最低允许加速度(aQ)进行评估。根据来自轨迹候选的集合中的轨迹成本,并且额外地在考虑评估轨迹候选和为其确定的物体成本的情况下,进行目标轨迹的选择。
Method for planning target trajectory for autonomous vehicle
用于为自动驾驶车辆规划目标轨迹的方法
2025-02-28
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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