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

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

Active Publication Date: 2022-04-29
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, device and storage medium based on intelligent driver model idm
  • Trajectory planning method, device and storage medium based on intelligent driver model idm
  • Trajectory planning method, device and storage medium based on intelligent driver model idm

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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 application relates to a trajectory planning method, device and storage medium based on an intelligent driver model IDM, which belongs to the field of automatic driving technology. The method includes: generating candidate trajectory clusters in the Frenet coordinate system based on environmental perception information and map information; IDM determines the predicted trajectory of the surrounding vehicles of the current vehicle under the influence of each candidate trajectory; screens out candidate trajectories that do not meet the preset constraint conditions in the candidate trajectory cluster, and candidate trajectories that collide with the predicted trajectory to obtain the filtered candidate trajectory ; Determine the planned trajectory of the current vehicle based on the selected candidate trajectory; it can solve the problem of inaccurate path planning results when the path planning does not consider the influence of surrounding vehicles; considering the impact of the planned trajectory of the self-vehicle on surrounding vehicles, quantifiable Choose the best trajectory. At the same time, by using the forecasting algorithm based on IDM, the real-time performance of the algorithm can be guaranteed.

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...

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Application Information

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Patent Type & Authority Patents(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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