Trajectory planning method for intelligent driving system and intelligent driving system

A technology of intelligent driving and trajectory planning, which is applied in the field of intelligent driving system, can solve the problems that cannot meet the application needs of intelligent driving system, and the implementation process is complicated, so as to achieve the effect of stable and safe trajectory tracking process

Inactive Publication Date: 2019-07-05
HUNAN CSR TIMES ELECTRIC VEHICLE
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Problems solved by technology

The implementation process of the existing trajectory planning fitting planning strategy i...

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  • Trajectory planning method for intelligent driving system and intelligent driving system
  • Trajectory planning method for intelligent driving system and intelligent driving system
  • Trajectory planning method for intelligent driving system and intelligent driving system

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Embodiment Construction

[0048] The implementation of the present invention will be described in detail below in conjunction with the accompanying drawings and examples, so as to fully understand and implement the process of how to apply technical means to solve technical problems and achieve technical effects in the present invention. It should be noted that, as long as there is no conflict, each embodiment and each feature in each embodiment of the present invention can be combined with each other, and the formed technical solutions are all within the protection scope of the present invention.

[0049] Also, in the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without the specific details or in the particular manner described.

[0050] In addition, the steps shown in the flow dia...

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Abstract

The invention relates to a trajectory planning method for an intelligent driving system. The system includes the following steps that: step 1, an optimal aiming distance is determined according to theacquired current vehicle speed of a vehicle; step 2, the point coordinates of a preset number of position points located in front of the vehicle are acquired, the radius of curvature of each positionpoint is calculated separately; step 3, a pre-aiming point is determined according to the radius of curvature of each position point and the optimal aiming distance; and step 4, on the basis of a preset curve fitting model, the planned trajectory of the vehicle is determined according to the pre-aiming point. According to the trajectory planning method for the intelligent driving system, the vehicle state of the intelligent driving vehicle is adopted as the reference information of trajectory planning, and therefore, the planned trajectory is more likely to satisfy a vehicle dynamics model, and the trajectory tracking process of the intelligent driving system is more stable and safer.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a trajectory planning method for an intelligent driving system and the intelligent driving system. Background technique [0002] At present, the intelligent driving system has a huge application market in reducing the driver's work intensity, improving road traffic safety and reducing illegal driving. Among them, the assisted driving system has become a must-have for automobiles stipulated by laws in some developed countries, and it is also the research and development focus of major automobile manufacturers and technology companies in the world. [0003] With the development of intelligent driving technology, self-driving vehicles equipped with intelligent driving systems have begun to gradually replace the driver's position. In order for the vehicle to automatically drive to the destination, the intelligent driving system usually searches for a shortest desired pat...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/34
CPCG05D1/0223G05D1/0214G05D1/0276G01C21/3407G05D2201/02
Inventor 唐广笛朱田汪伟彭再武王文明雷悠李军宋超
Owner HUNAN CSR TIMES ELECTRIC VEHICLE
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