Switching method and device of trajectory planning algorithm

Abstract

The invention discloses a switching method and device of a trajectory planning algorithm. The switching method includes the steps: when unmanned equipment switches a trajectory planning algorithm, ifthe track difference calculated by the two track planning algorithms before and after switching is relatively small, fusing the tracks calculated by the two track planning algorithms, travelling according to a fused trajectory, re-switching trajectory planning algorithm, and finally, driving according to the track calculated by the switched track planning algorithm, so that the stability and smoothness of switching the track planning algorithm by the unmanned equipment in the running process are effectively improved, and the situations that the unmanned equipment shakes seriously and loses stability in the scene switching process are greatly improved, and the scene switching continuity is ensured.

Description

technical field [0001] The present application relates to the technical field of unmanned driving, and in particular to a method and device for switching trajectory planning algorithms. Background technique [0002] With the continuous advancement of science and technology, unmanned driving technology has gradually matured, and the use of unmanned equipment to replace manual transportation has become a mainstream trend. [0003] In the existing unmanned equipment technology, the unmanned equipment needs to make path planning (PathPlanning) and trajectory planning (Trajectory Planning) during operation. Path planning does not need to consider obstacles, and solves the problem of reaching the destination through a certain route; while trajectory planning needs to consider obstacles, and solves the problem of driving according to the planned path while avoiding obstacles. For example, the route from a certain place to the airport can be planned through path planning, and the t...

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Problems solved by technology

[0006] However, when the trajectory planning algorithm is switched while the unmanned device is driving, the trajectories calculated by different trajectory planning algorithms in the same scene may be quite different, resulting in the possibility that the unmanned device may be too large based on the two differences calculated by the two trajectory planning algorithms. For large trajectories, when the unmanned equipment travels according to two different trajectories calculated before and after, if the difference between the two trajectories is too large, the unmanned equipment will experience severe shaking, loss of stability, etc., and may even appear The situation where the planning algorithm switching fails, therefore, in the prior art, the unmanned equipment usually needs to stop before switching the trajectory planning algorithm

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