A trajectory planning method for highly coupled path and velocity of autonomous vehicles

Abstract

The invention discloses a trajectory planning method for coupling the path and speed of an automatic driving vehicle, which belongs to the field of automatic driving, and includes: 1) obtaining the motion state information of the own vehicle and surrounding vehicles; 2) establishing the vehicles respectively according to the current state information of the own vehicle The candidate path model and candidate velocity model of the candidate path model and the candidate velocity model are obtained to obtain the input acceleration sequence of independent planning of path and velocity; 3) Establish a point motion model with vehicle tangential acceleration and normal acceleration as input and velocity, yaw angle, and coordinates as output, The input sequence is coupled together in the form of a matrix as the model input, so as to obtain the coupled candidate trajectory sequence; 4) Use the RMSProp optimizer to obtain the optimal trajectory of the vehicle at the current moment in real time, and take the control amount corresponding to the trajectory as input, that is, realize Coupling planning of paths and velocities. The invention solves the problem of the coupling between the speed and the path when the automatic driving vehicle performs trajectory planning in the prior art.

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...

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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

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