The invention discloses an automatic driving path optimization control method and device fusing environmental perception and prediction. The method comprises the following steps: acquiring environmental perception data of an automatic driving vehicle through a radar and a camera; the initial posture, the target posture and the environment perception data of the automatic driving vehicle serve as road constraint conditions, and a preliminary driving path of the automatic driving vehicle from the current position to the target position is planned through a path planning algorithm; state estimation and prediction are carried out on surrounding vehicles and obstacles through a multi-target tracking algorithm; according to future motion trails of surrounding vehicles and obstacles, road constraint conditions and physical restrictions of the autonomous vehicle, performing path optimization on the initial path to obtain an optimized driving path; and converting the optimized driving path into a control instruction of the automatic driving vehicle, and driving the automatic driving vehicle to stably drive along the optimized driving path through the control instruction. According to the invention, the safety and the driving efficiency of the automatic driving vehicle are further improved.
本发明公开了一种融合环境感知与预测的自动驾驶路径优化控制方法及装置,其中方法包括:通过雷达、摄像头获取自动驾驶车辆的环境感知数据;将自动驾驶车辆的起始姿势、目标姿势以及环境感知数据作为道路约束条件,通过路径规划算法规划自动驾驶车辆从当前位置到目标位置的初步行驶路径;通过多目标跟踪算法对周围车辆和障碍物进行状态估计和预测;根据周围车辆和障碍物的未来运动轨迹、道路约束条件以及自动驾驶车辆的物理限制,对初步路径进行路径优化得到优化行驶路径;将优化行驶路径转换为自动驾驶车辆的控制指令,通过控制指令驱动自动驾驶车辆沿着优化行驶路径平稳行驶。本发明进一步提升了自动驾驶车辆的安全性和行驶效率。
Automatic driving path optimization control method and device integrating environment perception and prediction
融合环境感知与预测的自动驾驶路径优化控制方法及装置
2025-03-07
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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