Vehicle motion planning system and method using frequency shaping

Abstract

The invention discloses a vehicle motion planning system and method using frequency shaping, and the method comprises the steps: obtaining the information of a passable region around a vehicle and the limit of a vehicle motion state based on an upper-layer sensing module and a vehicle information module, and combining a planning target demand obtained by a planning target setting module, the input planning constraint generation module determines a geometric position constraint and a motion state constraint of the vehicle; based on the vehicle motion pose and geometric information output by the geometric position constraint and vehicle information module, the planning end point sampling module outputs a plurality of planning end points; a frequency weighting function and an optimization objective function of an optimal control problem are obtained in combination with a planning objective characterization index; and finally, the optimization solving module outputs optimal control sequences and optimal planning time domains corresponding to different planning end points, and a target trajectory is output through selection of the optimal path selection module. According to the method, different planning targets are individually selected through the planning target setting module, so that the comfort of motion planning can be improved.

Description

technical field [0001] The invention belongs to the technical field of automatic driving vehicles, and in particular relates to a vehicle motion planning system and method using frequency integers. Background technique [0002] Motion sickness is a form of motion sickness. The symptoms of motion sickness include sweating, dizziness, nausea, and vomiting, which greatly affect the ride experience of the occupants in the vehicle. Numerous investigations and studies at home and abroad all show that most people have experienced mild or severe motion sickness when riding a vehicle, and it can be considered that motion sickness is a common phenomenon. [0003] With the development of autonomous driving technology, the level of automation of vehicles is gradually increasing. The movement of the vehicle, including acceleration, deceleration, and steering movement, can be controlled by the automatic driving system. In order to improve competitiveness and meet users' expectations for t...

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Problems solved by technology

However, in the existing measures and designs to resist motion sickness, motion sickness is slowed down from the perspective of optimizing ergonomics in the car, including in-car displays, seat layout, climate environment adjustment in the car, or from the perspective of vehicle chassis suspension design. and control to improve vibration, there are no published reports of motion planning in vehicles to alleviate motion sickness

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