Ramp convergence point trajectory planning method
A trajectory planning and import point technology, which is applied in the direction of external condition input parameters, control devices, transportation and packaging, etc., can solve problems such as cost increase and system complexity increase, and achieve the effect of simplifying complexity and reducing cost
Active Publication Date: 2021-06-22
知行汽车科技(苏州)股份有限公司
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[0003] At present, in order to avoid collisions with vehicles coming from behind in adjacent lanes when driving assistance on high-speed roads, it is necessary to install rear-facing cameras or radars; however, this approach increases costs and increases the complexity of the system
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[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention. In addition, all the connection relationships mentioned in this article do not refer to the direct connection of components, but mean that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation.
[0027] see figure 1 As shown in , it shows the information obtained by the lateral sensor of the current vehicle when the cutting angle is at the maximum value, that is...
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The invention discloses a ramp convergence point trajectory planning method, which comprises the following steps of: acquiring vehicle information of a current vehicle and lane information of a ramp by utilizing a forward sensor and a lateral sensor, wherein the vehicle information of the current vehicle comprises a current included angle between the current vehicle and the afflux lane line, and the lane information of the ramp comprises the ramp length and the maximum vehicle speed limit in the ramp; acquiring vehicle information of vehicles behind the inner side of a first lane adjacent to the ramp in the main lane of the expressway by using a lateral sensor; determining a vehicle condition in a minimum detection distance required by the first lane; determining an effective detection distance of a current vehicle lateral sensor; determining the maximum value of the cut-in angle between the current vehicle and the first lane line according to the effective detection distance of the lateral sensor and the minimum detection distance required by the first lane; determining the optimal value of the cut-in angle between the current vehicle and the confluence lane line and the position of the cut-in point, generating a driving path, and guiding the driving of the current vehicle according to the driving path so as to ensure the safe confluence.
Description
technical field [0001] The invention relates to the technical field of driving assistance on high-speed roads, in particular to a trajectory planning method for a ramp merge point. Background technique [0002] HWA highway assistance is actually a new technology after the emergence of automatic driving assistance systems, which is mainly for the corresponding scenarios of high-speed kilometers driving. The hardware of HWA mainly includes sensors; sensors include millimeter-wave radars, multi-function cameras, etc.; the sensor configuration of 5R1V (5 millimeter-wave radars + 1 forward-looking multi-function camera) is usually used, of which 5 millimeter-wave radars are composed of a forward-looking It consists of millimeter wave radar, two left and right side facing millimeter wave radars and two left and right backward facing millimeter wave radars. [0003] At present, when driving assistance on high-speed roads to realize ramp merging, in order to avoid collisions with v...
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IPC IPC(8): B60W30/18B60W40/04B60W40/06B60W40/072
CPCB60W30/18009B60W40/04B60W40/06B60W40/072B60W2554/4041B60W2554/4042B60W2554/4044B60W2554/80B60W2554/805
Inventor 宋炜瑾
Owner 知行汽车科技(苏州)股份有限公司