Track planning method and device

A trajectory planning and trajectory technology, applied in the field of trajectory planning methods and devices, can solve problems such as unsatisfactory trajectory planning effects and difficulty meeting system real-time requirements.

Active Publication Date: 2020-10-27
BEIJING JINGWEI HIRAIN TECH CO INC
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Problems solved by technology

[0004] In view of this, the present invention provides a trajectory planning method and device to overcome the problems in the prior art that

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Embodiment Construction

[0035]The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0036] figure 1 For a flow chart of a trajectory planning method disclosed in an embodiment of the present invention, see figure 1 As shown, the trajectory planning method can include:

[0037] Step 101: Obtain the operating parameters of the vehicle.

[0038] In order to ensure that the planned trajectory conforms to the vehicle dynamics constraints, and at the same time ensure that the planned trajectory is consistent with the vehicle’s driving trajectory, ...

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Abstract

The invention discloses a track planning method and device. The method comprises the steps of acquiring operation parameters of a vehicle; determining a planning equation of a first section of track corresponding to a process of rotating a steering wheel to a first angle; determining a planning equation of a second section of track corresponding to the process of keeping the first angle of the steering wheel unchanged; determining a planning equation of a third section of track corresponding to the process of aligning the steering wheel from the first angle; and based on the operation parameters, calculating and acquiring equation coefficients of the planning equations of the first section of track, the second section of track and the third section of track. According to the track planningmethod and device, an actual situation that a driver executes lane changing or turning operation is considered, and the track is divided into three sections to be planned respectively; and in addition, in the process, reasonability and executability of the planned track are ensured in combination with vehicle dynamic characteristics.

Description

technical field [0001] The present invention relates to the technical field of intelligent driving, and more specifically, relates to a trajectory planning method and device. Background technique [0002] Trajectory planning is an important part of intelligent driving technology or assisted driving technology to complete functions such as lane centerline driving and lane changing. The existing vehicle intelligent driving or assisted driving car trajectory planning generation methods are given a series of position points, using the least square method to fit or in the Frenet coordinate system (Frenet coordinate system is a more intuitive than traditional Cartesian coordinates Given a polynomial equation, the equation of the planned trajectory is finally determined according to the parameters of the vehicle's position, heading, and yaw rate. [0003] However, the controllers of general assisted driving systems have limited computing power, and it is difficult to meet the real...

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Application Information

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IPC IPC(8): B60W60/00
CPCB60W60/001B60W2520/06B60W2520/10B60W2520/12
Inventor 陈铁桩蔡智凯董文龙杨川舟
Owner BEIJING JINGWEI HIRAIN TECH CO INC
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