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Trajectory generation method and device, computing equipment and computer readable storage medium

A trajectory generation and trajectory technology, applied in the field of automatic driving equipment, trajectory generation method, trajectory generation device, computing equipment and computer-readable storage media, can solve the problem of trajectory curvature discontinuity, achieve continuous curvature, high efficiency, and calculation The effect of simple process

Pending Publication Date: 2021-09-24
SHENZHEN SKYFEND TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of the above problems, an embodiment of the present invention provides a trajectory generation method, a trajectory generation device, an automatic driving device, a computing device, and a computer-readable storage medium, which are used to solve the problem of discontinuous curvature of the generated trajectory existing in the prior art

Method used

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  • Trajectory generation method and device, computing equipment and computer readable storage medium
  • Trajectory generation method and device, computing equipment and computer readable storage medium
  • Trajectory generation method and device, computing equipment and computer readable storage medium

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Embodiment 1

[0048] An embodiment of the present invention provides an automatic driving device 10 . figure 1 It is a schematic structural diagram of an automatic driving device 10 according to an embodiment of the present invention, figure 2 It is an application environment diagram of the automatic driving device provided by the embodiment of the present invention. see figure 1 , the automatic driving device 10 includes a main body of the automatic driving device and a trajectory generating device 200, and the trajectory generating device 200 is arranged on the automatic driving device. Wherein, the self-driving device may be a self-driving car, a drone and other devices. Such as figure 2As shown, taking the self-driving car as an example, its application scenario is: when the self-driving device 10 in the same lane needs to overtake, it needs to change lanes, and the trajectory generation device 200 in the self-driving device 10 can 20 and the driving information of the automatic d...

Embodiment 2

[0050] image 3 A flow chart of an embodiment of the trajectory generation method of the present invention is shown, the method being executed by a computing device. The computing device may be the aforementioned automatic driving device (such as a self-driving car), a computer device, a terminal, and the like. Such as image 3 As shown, the method includes the following steps:

[0051] Step 110: Obtain the driving information and road information of the vehicle in front and the current vehicle.

[0052] Among them, the road information can be obtained through the high-precision map of the automatic driving device; the driving information of the vehicle in front and the current vehicle can be determined according to the sensing module on the automatic driving device.

[0053] Taking an autonomous vehicle as an example, in the embodiment of the present invention, the driving information of the vehicle ahead and the current vehicle includes the speed of the vehicle ahead, the...

Embodiment 3

[0090] Figure 6 A schematic structural diagram of an embodiment of the trajectory generation device of the present invention is shown. Such as Figure 6 As shown, the apparatus 200 includes: an acquisition module 210 , a first determination module 220 and a second determination module 230 .

[0091] An acquisition module 210, configured to acquire driving information and road information of the vehicle in front and the current vehicle;

[0092] The first determination module 220 is configured to determine the boundary constraints of the lane-changing path trajectory of the current vehicle according to the driving information and road information;

[0093] The second determination module 230 is configured to determine the trajectory of the lane-changing path according to the boundary constraints, physical constraints and a preset objective function; the objective function is used to characterize points on the trajectory of the lane-changing path Curvature change cost.

[0...

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Abstract

The embodiment of the invention relates to the technical field of automation control, and discloses a trajectory generation method. The method comprises the following steps: acquiring driving information and road information of a front vehicle and a current vehicle; according to the driving information and the road information, determining a boundary constraint condition of a lane changing path trajectory of the current vehicle; according to the boundary constraint condition, the physical constraint condition and a preset objective function, determining the lane changing path trajectory; and the objective function being used for representing curvature change cost of points on the lane changing path trajectory. In this way, the technical effect that the curvature of the generated trajectory is smooth is achieved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of automation control, and in particular to a trajectory generation method, a trajectory generation device, an automatic driving device, a computing device, and a computer-readable storage medium. Background technique [0002] At present, the planning module in unmanned driving is a very important link. During the normal driving process of smart cars, the high-precision map provides the reference line for vehicle driving. Due to the requirements of vehicle kinematics, the reference line provided by the high-precision map should be smooth. of. In special scenarios, the output of high-precision maps cannot meet the vehicle kinematics requirements, that is, the vehicle in front is in the same lane as the vehicle in front, and the vehicle in front stops suddenly. At this time, the solution that the vehicle can adopt can be: wait for the vehicle in front to start again Or use the planni...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 任仲超辛明
Owner SHENZHEN SKYFEND TECH CO LTD
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