A vehicle motion planning system and method using frequency shaping

Abstract

The invention discloses a vehicle motion planning system and method using frequency shaping. Based on the upper-layer perception module and the vehicle information module, the information of the passable area around the vehicle and the limit of the vehicle motion state are obtained, and the planning target obtained by the planning target setting module is combined According to the requirements, the input planning constraint generation module determines the geometric position constraints and motion state constraints of the vehicle; based on the geometric position constraints and the vehicle motion pose and geometric information output by the vehicle information module, the planning end point sampling module outputs multiple planning end points; combined with the planning target representation The frequency weighting function and the optimization objective function of the optimal control problem are obtained; the final optimization solving module outputs the optimal control sequence and the optimal planning time domain corresponding to different planning end points, and outputs the target trajectory after the selection by the optimal path selection module. The present invention can improve the comfort of motion planning through individualized selection of different planning goals through the planning goal setting module.

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 shaping. Background technique [0002] Motion sickness is a manifestation of motion sickness. The symptoms of motion sickness include sweating, dizziness, nausea, and vomiting, which greatly affect the riding experience of the occupants in the vehicle. Numerous investigations and studies at home and abroad have shown that most people have experienced mild or severe motion sickness when riding in a vehicle. It can be considered that motion sickness is a common phenomenon. [0003] With the development of automatic driving technology, the automation level of vehicles is gradually improved. The movement of vehicles, including acceleration, deceleration, and steering movement, can be controlled by the automatic driving system. In order to enhance competitiveness and meet users' expectations for...

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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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