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Trajectory planning method and device, equipment and storage medium

A trajectory planning and trajectory technology, applied in the computer field, can solve problems such as redundant calculations and reduce the efficiency of trajectory planning, and achieve the effects of reducing complexity, improving trajectory planning efficiency, and avoiding redundant calculations

Pending Publication Date: 2021-11-19
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Due to the limited length of the vehicle, the vehicle will not collide with all obstacles at all times, so the existing trajectory planning method considers the information of all obstacles at all times, which will lead to a lot of redundancy. redundant calculation, which greatly reduces the efficiency of trajectory planning

Method used

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  • Trajectory planning method and device, equipment and storage medium
  • Trajectory planning method and device, equipment and storage medium
  • Trajectory planning method and device, equipment and storage medium

Examples

Experimental program
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Embodiment 1

[0033] figure 1 It is a flow chart of a trajectory planning method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of trajectory planning for automatic driving vehicles, especially for the situation of trajectory planning for automatic driving vehicles in structured roads. The method can be executed by a trajectory planning device, which can be realized by software and / or hardware, and integrated in a device with automatic driving function, such as any type of vehicle. Such as figure 1 As shown, the method specifically includes the following steps:

[0034] S110. Obtain initial trajectory information obtained by performing trajectory decision on the target vehicle.

[0035] Wherein, the target vehicle may refer to any type of self-driving vehicle that requires trajectory planning on the road. A road may refer to a structured road. The structured road may refer to a road with driving rules on which the target vehicle is to t...

Embodiment 2

[0080] Figure 5 A trajectory planning method provided by Embodiment 2 of the present invention. On the basis of the above-mentioned embodiments, this embodiment, "according to the motion trajectories and preset radii of the two centers, determine each The local tunnel area corresponding to each circle center at the sampling moment" is optimized. The explanations of terms that are the same as or corresponding to the above-mentioned embodiments will not be repeated here.

[0081] see Figure 5 , the trajectory planning method provided in this embodiment specifically includes the following steps:

[0082] S210. Obtain initial trajectory information obtained by performing trajectory decision on the target vehicle.

[0083] S220. Cover the body area of ​​the target vehicle with two circular areas with preset radii, and determine motion trajectories of the two circle centers.

[0084] Specifically, based on the initial trajectory information (x decision (t),y decision (t), θ ...

Embodiment 3

[0098] Figure 7 A trajectory planning method provided by Embodiment 3 of the present invention. On the basis of the above-mentioned embodiments, this embodiment optimizes "constructing the target vehicle corresponding target trajectory planning nonlinear proposition", and on this basis, also Optimize "according to the initial trajectory information, solve the nonlinear proposition of target trajectory planning, and determine the target planning trajectory corresponding to the target vehicle". The explanations of terms that are the same as or corresponding to the above-mentioned embodiments will not be repeated here.

[0099] see Figure 7 , the trajectory planning method provided in this embodiment specifically includes the following steps:

[0100] S310. Obtain initial trajectory information obtained by performing trajectory decision on the target vehicle.

[0101] S320. Construct the first trajectory planning nonlinear proposition corresponding to the target vehicle, whe...

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Abstract

The embodiment of the invention discloses a trajectory planning method and device, equipment and a storage medium. The method comprises the following steps of acquiring initial trajectory information obtained by performing trajectory decision on a target vehicle, constructing a target trajectory planning nonlinear proposition corresponding to the target vehicle, wherein the target trajectory planning nonlinear proposition comprises a trajectory cost function and a driving constraint condition, and the driving constraint condition comprises a collision avoidance constraint condition determined based on a tunnel modeling mode, and according to the initial trajectory information, solving the target trajectory planning nonlinear proposition, and determining a target planning trajectory corresponding to the target vehicle. Through the technical scheme of the embodiment of the invention, the trajectory planning efficiency can be improved.

Description

technical field [0001] The embodiments of the present invention relate to computer technology, and in particular to a trajectory planning method, device, equipment and storage medium. Background technique [0002] With the rapid development of computer technology, vehicles can realize unmanned automatic driving on structured roads. In unmanned autonomous driving scenarios, it is usually necessary to make trajectory decisions (i.e., operation decisions) for the vehicle to determine which side the vehicle will bypass obstacles from, and whether to preempt or give way. After the trajectory decision is made for the vehicle, trajectory planning is required to smooth the rough trajectory determined by the decision to obtain a more accurate planned trajectory. [0003] At present, the existing trajectory planning method is to plan according to the information of all obstacles in the driving scene, so as to ensure that the vehicle will not collide with obstacles when driving along ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0242G05D1/0259G05D1/0223G05D1/0214G05D1/0221G05D1/028G05D1/0276
Inventor 李柏边学鹏
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD