Spatiotemporal behavior decision-making and trajectory planning system and method
A trajectory planning and decision-making technology, applied in the field of spatio-temporal behavior decision-making and trajectory planning system
Active Publication Date: 2021-06-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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[0006] In view of this, this disclosure proposes a space-time behavior decision-making and trajectory planning system and method, which solves the problem of how to achieve safe and collision-free behavior decision-making and trajectory planning tasks in a high-speed environment containing dynamic obstacles, and balances long-period The relationship between decision-making planning and short-period trajectory planning to improve the efficiency of planning and decision-making, and to meet the needs of closely combining decision-making modules and planning modules, so that it can be more adaptable to dynamic environments, and realize autonomous intelligent planning and heavy-duty planning
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[0033] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
[0034] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.
[0035] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific implementation manners. It will be understood by those skilled in the art that the present disclosure may be practiced without some of the specific details. In some instances, methods, means, componen...
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The invention discloses a spatiotemporal behavior decision-making and trajectory planning system and method; a long-period behavior decision-making and trajectory planning module is used for generating and expanding voxels in the three-dimensional driving space time, searching a voxel sequence with the lowest cost by using a search method, and then determining a reference trajectory, wherein the voxel is a position set of a driving vehicle on a corresponding lane in the three-dimensional driving space time within a planned time; and a short-period dynamic planning module is used for optimizing the reference trajectory by utilizing the environment information in the short period to obtain an optimal trajectory. The problem of safe and collision-free behavior decision-making and trajectory planning tasks in a high-speed environment containing dynamic obstacles can be solved, the relationship between long-period decision-making planning and short-period trajectory planning is balanced to improve the planning and decision-making efficiency, and the requirement of tightly combining a decision-making module and a planning module is met, therefore, the system can better adapt to a dynamic environment, and achieves the autonomous and intelligent planning and re-planning.
Description
technical field [0001] The present disclosure belongs to the technical field of automatic control, and in particular relates to a system and method for spatio-temporal behavior decision-making and trajectory planning. Background technique [0002] Autonomous driving and related research have made great progress in the past few decades. However, achieving high levels of autonomous driving in complex urban environments still faces great challenges. Among them, the intelligent behavior decision-making and efficient trajectory planning of unmanned vehicles are especially important in the highway environment full of dynamic obstacles, and the two are closely related. Therefore, in order to achieve the safety, efficiency, flexibility and automation of decision-making planning tasks, it is urgent to build a unified model framework that integrates behavioral decision-making and trajectory planning. [0003] The decision-making module and planning module in unmanned driving technol...
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Login to View More IPC IPC(8): B60W60/00
CPCB60W60/001
Inventor 付梦印张婷宋文杰杨毅王美玲
Owner BEIJING INSTITUTE OF TECHNOLOGYGY