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Planning method of intelligent vehicle autonomous running dynamic trajectory and system of the same

A technology for intelligent vehicles and autonomous driving, which is applied in the traffic control system of road vehicles, traffic control systems, special data processing applications, etc., and can solve problems such as poor portability, lack of consideration of vehicle dynamics characteristics, and vehicle constraints

Inactive Publication Date: 2013-04-10
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

A Chinese invention patent (the application date is 2011.1.12, the application number is 201010278700.9, "The Design Method of the Curve Alignment of the Port Area Based on ACT-R") is based on ACT-R to design the curve alignment of the port area, mainly Aiming at the special traffic characteristics of the port area, the design of the curve curve for driving reference is not very transplantable to the road conditions outside the port area, and this method does not consider the vehicle dynamics characteristics and vehicle constraints

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  • Planning method of intelligent vehicle autonomous running dynamic trajectory and system of the same
  • Planning method of intelligent vehicle autonomous running dynamic trajectory and system of the same
  • Planning method of intelligent vehicle autonomous running dynamic trajectory and system of the same

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Embodiment Construction

[0033] The technical scheme of the present invention is described in detail below in conjunction with accompanying drawing:

[0034] Such as figure 1 As shown, the idea of ​​the present invention is: the trajectory planning problem P 0 Defined as {D,{O},H 0 ,S 0 , bc}. Scope D refers to the system dynamics and the parameterized weight function J that needs to be minimized; {O} refers to the collection of obstacles in the environment; H 0 is a hard constraint on the state space, S 0 is the soft constraint condition that reflects the user's intention; the boundary condition bc={t 0 ,x 0 ,x f}, is the optimal control state, t 0 is the initial time, x 0 is the starting position, x f for the end position. The goal is to find the optimal solution X = {J n , L n ,x n ,u n ,t n}, where J n Denotes the weight solution, L n Represents the constraints of trajectory features, {x n ,u n ,t n} represents the trajectory to be executed (x n Indicates the position and vel...

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Abstract

The invention discloses a planning method of an intelligent vehicle autonomous running dynamic trajectory and belongs to the technical field of intelligent transportation. The planning method of the intelligent vehicle autonomous running dynamic trajectory comprises (1) a step of generating a trajectory of an intelligent vehicle through searching for an optimum solution of a mathematical model by means of an optimum control method, (2) a step of extracting features of the trajectory generated in the first step, and (3) a step of judging whether the features meet presupposed constraint conditions or not; if the features meet the presupposed constraint conditions, regarding the trajectory as a final output trajectory; if the features do not meet the presupposed constraint conditions, adjusting weight W<1>, W<2>, and W<3> according to presupposed weight adjustment rules and then returning to the first step. The invention further discloses a planning system of the intelligent vehicle autonomous running dynamic trajectory. The planning system of the intelligent vehicle autonomous running dynamic trajectory comprises a trajectory generation module, a feature extraction module, an estimation module, and a weight adjustment module. Compared with the prior art, the planning method of the intelligent vehicle autonomous running dynamic trajectory and the system of the same have a stronger learning ability and a better adaptability to the unknown environment.

Description

technical field [0001] The invention relates to an intelligent vehicle technology in an intelligent transportation system, in particular to a dynamic track planning method and system for autonomous driving of an intelligent vehicle. Background technique [0002] Intelligent vehicle is an important part of intelligent transportation system. The main purpose of its research is to reduce the incidence of increasingly serious traffic accidents and improve the efficiency of existing road traffic. Numerous research institutions and industrial design units in the world are investing a lot of manpower and material resources in the research and development process, always paying attention to the research and development of key technologies. Trajectory planning technology is a key technology for vehicles to drive autonomously. In order to intelligently control the vehicle, the prerequisite is to generate a feasible reference trajectory and provide the parameters of the trajectory to t...

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Application Information

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IPC IPC(8): G08G1/00G06F19/00
Inventor 李爱娟李舜酩沈峘江星星
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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