Path and speed coupling trajectory planning method for autonomous vehicle

Abstract

The invention discloses a path and speed coupling trajectory planning method for an autonomous vehicle, and belongs to the field of automatic driving. The method comprises the following steps: 1) acquiring motion state information of a vehicle and surrounding vehicles; 2) respectively establishing a candidate path model and a candidate speed model of the vehicle according to the current state information of the vehicle to obtain an input acceleration sequence for independent planning of the path and the speed; 3) establishing a point motion model with the tangential acceleration and the normalacceleration of the vehicle as input and the speed, the yaw angle and the coordinate as output, and coupling the input sequences together in a matrix form to serve as the input of the model so as toobtain a coupled candidate trajectory sequence; and 4) acquiring the optimal trajectory of the vehicle at the current moment in real time by utilizing an RMSProp optimizer, and taking the control quantity corresponding to the trajectory as input, namely realizing path and speed coupling planning. According to the method, the problem of coupling between the speed and the path when the autonomous vehicle performs trajectory planning in the prior art is solved.

Description

technical field [0001] The invention belongs to the technical field of vehicle automatic driving, and in particular relates to a trajectory planning method in which the path and speed of an automatic driving vehicle are highly coupled. Background technique [0002] In recent years, frequent traffic accidents, increased traffic congestion, and fatigue driving have not been effectively alleviated, making the demand for autonomous vehicles at home and abroad more and more urgent. The current research on autonomous vehicles mainly includes three parts: environment perception, decision planning and control execution. With the improvement of sensor accuracy, breakthroughs in chip computing capabilities, and the emergence of new technologies such as vehicle steering by wire and brake by wire, the vehicle's perception of the surrounding environment and the control accuracy of the underlying actuators have been greatly improved. As a key part, the trajectory planning method has a gr...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a trajectory planning method with a highly coupled path and speed of an automatic driving vehicle to solve the coupling between the speed and the path of the automatic driving vehicle in the prior art when performing trajectory planning. problem; the method of the present invention enables the vehicle to plan a safe, efficient and stable trajectory in real time under working conditions such as changing lanes, overtaking, decelerating and avoiding

Images