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Trajectory planning method and device based on intelligent driver model IDM and storage medium

A driver model and trajectory planning technology, which is applied to control devices, transportation and packaging, and external condition input parameters, can solve problems such as inaccurate path planning results, avoid a large number of complex calculations, and ensure real-time performance

Active Publication Date: 2021-06-01
知行汽车科技(苏州)股份有限公司
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Problems solved by technology

[0004] This application provides a trajectory planning method, device and storage medium based on the intelligent driver model IDM, which can solve the problem of inaccurate path planning results when the path planning is performed without considering the influence of surrounding vehicles

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  • Trajectory planning method and device based on intelligent driver model IDM and storage medium
  • Trajectory planning method and device based on intelligent driver model IDM and storage medium
  • Trajectory planning method and device based on intelligent driver model IDM and storage medium

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Embodiment Construction

[0052] The specific implementation manners of the present application will be further described in detail below in conjunction with the drawings and embodiments. The following examples are used to illustrate the present application, but not to limit the scope of the present application.

[0053] First, some terms involved in this application are introduced.

[0054] Self-driving (Self-driving): It is a smart car that realizes automatic driving through a computer system.

[0055] Intelligent driver model (intelligent driver model, IDM): It is used to simultaneously describe the phase transition of vehicles from free flow to congested flow in a unified form, taking into account the speed difference of adjacent vehicles and the distance between vehicles.

[0056]Constant Turn Rate and Acceleration (CTRA): Based on the Constant Turn Rate and Velocity (CTRV) model, a constant steering angle Φ is introduced to represent the relationship between speed v and yaw rate ω. Most of the ...

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Abstract

The invention relates to a trajectory planning method and device based on an intelligent driver model (IDM) and a storage medium, and belongs to the technical field of automatic driving. The method comprises the steps of generating a candidate trajectory cluster under a Frenet coordinate system based on environment perception information and map information; determining predicted trajectories of surrounding vehicles of the current vehicle under the influence of each candidate trajectory based on the IDM; screening out candidate trajectories which do not meet a preset constraint condition in the candidate trajectory cluster and candidate trajectories which collide with the predicted trajectory to obtain screened candidate trajectories; and determining a planned trajectory of the current vehicle based on the screened candidate trajectories. The problem that the path planning result is inaccurate when the influence of surrounding vehicles is not considered for path planning can be solved; and the influence of the planned trajectory of the vehicle on surrounding vehicles is considered, and the optimal trajectory can be quantitatively selected. Meanwhile, the real-time performance of the algorithm can be ensured by using the prediction algorithm based on the IDM.

Description

technical field [0001] The present application relates to a trajectory planning method, device and storage medium based on an intelligent driver model IDM, and belongs to the technical field of automatic driving. Background technique [0002] An autonomous vehicle is an intelligent vehicle that realizes unmanned driving through a computer system. Autonomous vehicles have the ability to automatically track paths. The path planning algorithm of the self-driving vehicle comprehensively analyzes the results of upstream perception and maps, and according to the current road conditions, plans a smooth, safe and in line with the destination direction and sends it to the downstream control module for trajectory tracking, thereby driving the operation of the self-driving vehicle. [0003] Existing path planning algorithms do not consider interactions with other road participants (surrounding vehicles). In order to ensure safety, a relatively large time distance and gap from the veh...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/00B60W50/00
CPCB60W30/00B60W50/00B60W2050/0043B60W2554/80B60W2554/802
Inventor 张珈彬
Owner 知行汽车科技(苏州)股份有限公司
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