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Method and device for generating automatic driving planning track and automobile

An automatic driving and planning technology, applied to motor vehicles, two-dimensional position/channel control, transportation and packaging, etc., can solve the problems of severe vehicle vibration and unstable lane change trajectory, and achieve the effect of improving ride comfort

Pending Publication Date: 2021-05-07
BEIJING ELECTRIC VEHICLE
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  • Description
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Problems solved by technology

[0003] The purpose of the present invention is to provide a method, device and vehicle for generating a planned trajectory for automatic driving, so as to solve the problem that in the prior art, when an irregular obstacle is detected during automatic driving, the generated lane-changing trajectory is unstable and the vehicle violently jitter problem

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  • Method and device for generating automatic driving planning track and automobile
  • Method and device for generating automatic driving planning track and automobile
  • Method and device for generating automatic driving planning track and automobile

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Embodiment Construction

[0067] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0068] The present invention aims at the problem in the prior art that the planned trajectory of the vehicle is unstable due to unstable or irregular obstacles during the automatic driving process, causing the vehicle to vibrate violently, and provides a method, device and vehicle for generating the planned trajectory for automatic driving. It avoids the phenomenon that the vehicle shakes due to the jump of the planned trajectory, and improves the ride comfort.

[0069] see figure 1 , is a schematic diagram of basic steps of a method for generating a planned trajectory for automatic driving according to an embodiment of the present invention, the method comprising:

[0070] Step S101, determine the current preview point information of the car;

[0071]...

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Abstract

The invention provides a method and device for generating an automatic driving planning track and an automobile, and relates to the technical field of automatic driving. The method comprises the steps of determining the current preview point information of the automobile; determining information of a plurality of key points according to the preview point information and the current position information of the automobile; and generating a planning track according to the multiple pieces of key point information, the preview point information and the current position information. According to the scheme, the phenomenon that in the automatic driving process, due to the fact that an obstacle is irregular or jumps, the planned trajectory jumps, and the vehicle violently shakes is avoided, and the riding comfort is improved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method, a device and a vehicle for generating a planned trajectory for automatic driving. Background technique [0002] For autonomous driving scenarios on urban roads, when there are obstacles ahead that affect the normal driving of the vehicle, the self-driving car needs to change lanes to avoid the obstacles ahead. The driving speed of autonomous driving on urban roads is relatively high, usually 20-60km / h, so the car needs to generate a new planned trajectory every frame (50ms per frame). Each time the trajectory is generated, it is necessary to preview the obstacles ahead as the lane change point . However, there are irregular obstacles such as holly walls and fences and high-speed moving obstacles on urban roads, which lead to the instability of the target obstacle list output by perception, which in turn leads to the instability of the previewed obstacles when...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/0223G05D1/0278G05D1/0276
Inventor 刘炳张友焕王雪莹
Owner BEIJING ELECTRIC VEHICLE
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