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A kind of optimization method, device, device and readable storage medium of driving trajectory

An optimization method and technology of driving trajectory, applied in the direction of measuring devices, navigation, instruments, etc., can solve problems such as high algorithm complexity, no solution, difference in formation order, etc., and achieve low complexity, ensure feasibility, and ensure consistency Effect

Active Publication Date: 2021-09-28
SOUTHWEST JIAOTONG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] For the existing automatic truck path planning problem, if the formation sequence and vehicle trajectory are considered as a whole, the complexity of the algorithm is too high
In addition, the existing three types of formation sequence planning strategies are also too ideal, and in certain cases, it will cause no solution because the minimum safety distance requirements of the road section are not met.
and, even where feasible, they differ from the optimal order of formation

Method used

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  • A kind of optimization method, device, device and readable storage medium of driving trajectory
  • A kind of optimization method, device, device and readable storage medium of driving trajectory
  • A kind of optimization method, device, device and readable storage medium of driving trajectory

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Embodiment 1

[0189] Such as figure 1 As shown, this embodiment provides a method for optimizing a driving trajectory, and the method includes step S1, step S2, step S3 and step S4.

[0190] Step S1. Acquire parameters, the parameters include the travel time of the automatic truck, the optional sequence set of the automatic truck formation, the initial position of the automatic truck, the initial speed of the automatic truck and the initial lane occupancy information of the automatic truck, the position of the automatic truck variable, the speed variable of the automatic truck and the lane occupancy state variable of the automatic truck are initialized;

[0191] Step S2. Based on the parameters, calculate the formation duration loss of each sequence in the optional sequence set, and the sequence with the smallest formation duration loss is the optimal formation sequence;

[0192] Step S3. Judging whether the optimal formation sequence is feasible in terms of travel time, if feasible, proce...

Embodiment 2

[0318] Such as image 3 As shown, this embodiment provides a driving trajectory optimization device, which includes a parameter acquisition module 701 , a calculation module 702 , a judgment module 703 and an output module 704 .

[0319] The parameter acquiring module 701 is used to acquire parameters, the parameters including the travel time of the automatic truck, the optional sequence set of the automatic truck formation, the initial position of the automatic truck, the initial speed of the automatic truck and the initial lane occupancy information of the automatic truck, for The position variable of the automatic truck, the speed variable of the automatic truck and the lane occupancy state variable of the automatic truck are initialized;

[0320] The calculation module 702 is configured to calculate the formation duration loss of each sequence in the optional sequence set based on the parameters, and the sequence with the smallest formation duration loss is the optimal for...

Embodiment 3

[0327] Corresponding to the above method embodiments, the embodiments of the present disclosure further provide a device for optimizing a driving trajectory. The device for optimizing a driving trajectory described below and the method for optimizing a driving trajectory described above may be referred to in correspondence.

[0328] Figure 4 It is a block diagram of a driving trajectory optimization device 800 shown according to an exemplary embodiment. Such as Figure 4 As shown, the electronic device 800 may include: a processor 801 and a memory 802 . The electronic device 800 may also include one or more of a multimedia component 803 , an input / output (I / O) interface 804 , and a communication component 805 .

[0329] Wherein, the processor 801 is used to control the overall operation of the electronic device 800 to complete all or part of the steps in the above-mentioned method for optimizing the driving trajectory. The memory 402 is used to store various types of data ...

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Abstract

The present invention provides a method, device, equipment and readable storage medium for optimizing driving trajectory. The method includes: obtaining parameters, and initializing and setting the position variables, speed variables and lane occupancy state variables of automatic trucks; based on the Parameters, calculate the formation time loss of each sequence in the optional sequence set, the sequence with the smallest formation time loss is the optimal formation sequence; judge whether the optimal formation sequence is feasible in terms of travel time, if feasible, directly enter the next step One step, otherwise the order is removed from the optional order set, and the optimal formation order in the set is reselected until it is feasible; with the lowest energy consumption of the system as the goal, a mixed integer programming model is constructed, and the model is solved to obtain Path optimization results for automated trucks. The present invention adopts a two-stage trajectory optimization method, first optimizes the formation order, and then uses a mixed integer programming model to optimize the trajectory, and has lower algorithm complexity than the overall optimization process.

Description

technical field [0001] The invention relates to the field of high-speed rail and air combined transport services, in particular to a driving trajectory optimization method, device, equipment and readable storage medium. Background technique [0002] For the problem of autonomous vehicle (AT) formation, the existing research mainly focuses on the vehicle operation control problem when the formation has been formed, and less involved in the path planning of automatic trucks. In terms of path planning, most algorithms optimize the entire formation process (including formation order and driving path) as a whole, and other individual algorithms consider dividing this process into segments and first planning the sequence of automatic trucks in the queue. [0003] For the existing automatic truck path planning problem, if the formation sequence and vehicle trajectory are considered as a whole, the complexity of the algorithm is too high. In addition, the existing three types of fo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34G01C21/36
CPCG01C21/3461G01C21/3492G01C21/3605
Inventor 周韬郑芳芳侯康宁陆良刘婧白霖涵
Owner SOUTHWEST JIAOTONG UNIV
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