Automatic driving track generation system in high-speed scene

Abstract

The invention relates to an automatic driving track generation system in a high-speed scene. The automatic driving track generation system comprises a sensor group, an execution system, a planning subsystem, a track screening module and a track optimization module; the sensor group collects information and transmits the information to the sensor fusion module; the sensor fusion module constructs atwo-dimensional coordinate system to obtain original road data and original vehicle state data, and transmits the original road data and the original vehicle state data to the behavior planning subsystem; a sampling point set is obtained and transmitted to the track screening module; the track screening module generates a candidate track composed of sampling points; the track screening module calculates cost values among the sampling points one by one, screens out optimal path data and transmits the optimal path data to the track optimization module; the track optimization module obtains an optimal smooth curve and transmits the optimal smooth curve to the execution system; and the execution system controls a vehicle to enter the end point along the target track. According to the system,the calculation amount is reduced, the path planning speed is increased, and the real-time performance of output is ensured; the curvature of the planned path is continuous, and the safety and operability are high; optimal solutions may be obtained.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to an automatic driving trajectory generation system in high-speed scenarios. Background technique [0002] The path planning of unmanned vehicles depends on the decision-making and planning system in the ECU. In the complex and changeable road environment, the corresponding driving behavior instructions are made in real time according to the received environmental information, which includes the trajectory planning work. The trajectory is a series of trajectory curves of the unmanned vehicle from the current state to the next target state. Trajectories need to satisfy the vehicle's motion and dynamic constraints to avoid collisions with obstacles in a realistic urban environment. [0003] Most of the current mainstream trajectory generation systems use algorithms based on curve interpolation and search algorithms based on sampling. [0004] The former has the advantages...

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