Adaptive trajectory generation method and system

Abstract

An adaptive trajectory generation method and system, the method being applicable to a vehicle, implemented by an in-vehicle computer, and comprising: (A) generating an adaptive trajectory according to vehicle information related to the vehicle at a current point in time, a vehicle position, and at least one part of obstacle information related to at least one obstacle within a predetermined distance range from the vehicle, determining whether a first specific condition is satisfied; (B) when it is judged that the first specific condition is not met, whether a second specific condition is met or not is judged according to the vehicle information, the at least one part of obstacle information, the vehicle position, the road condition information and the traffic flow speed at the current time point; and (C) when it is judged that the second specific condition is met, updating a current track path according to the vehicle information, the at least one part of obstacle information, the vehicle position and the road condition information at the current time point, so as to avoid obstacles in time.

Description

technical field [0001] The invention relates to a trajectory generation method, in particular to an adaptive trajectory generation method and system. Background technique [0002] Autonomous driving technology mainly includes four parts: environment perception technology, navigation and positioning technology, path planning technology, and decision-making control technology. Among them, path planning is a very key component of automatic driving technology. According to a certain evaluation standard, find a collision-free path from the initial state including position and attitude to the target state, that is, plan a path that can make the autonomous vehicle drive safely and smoothly according to the vehicle's driving speed and environmental conditions. [0003] However, the existing self-driving cars cannot temporarily change the driving trajectory after planning the driving trajectory. Therefore, if the road environment changes and there is danger in the middle of driving, ...

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Problems solved by technology

[0003] However, the existing self-driving cars cannot temporarily change the driving trajectory after planning the driving trajectory. Therefore, if the road environment changes and there is danger in the middle of driving, the self-driving car usually brakes and cannot dodge obstacles in a timely manner. It means that the existing self-driving car becomes unsafe due to the influence of the external environment on the original trajectory, and cannot leave the dangerous area in time, so there are safety doubts

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