Adaptive trajectory generation method and system

Abstract

An adaptive trajectory generation method and system, the method is applicable to a vehicle, implemented by a vehicle computer, and includes: (A) according to the vehicle information related to the vehicle at the current time point, the vehicle position and at least one correlation Based on the obstacle information of at least one obstacle within a predetermined distance from the vehicle, determine whether the first specific condition is satisfied; (B) when it is determined that the first specific condition is not satisfied, according to the current time point The vehicle information, the at least one piece of obstacle information, the vehicle position, the road condition information, and the traffic flow speed are used to determine whether a second specific condition is met; (C) when it is determined that the second specific condition is met, Updating the current track path according to the vehicle information at the current time point, the at least one piece of obstacle information, the vehicle position, and the road condition information, so as to avoid obstacles in time.

Description

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

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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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