Longitudinal and transverse coupled intelligent vehicle trajectory planning method and system

Abstract

The invention discloses a longitudinal and transverse coupled intelligent vehicle trajectory planning method and system. The method comprises the following steps: acquiring the state of a vehicle at the current moment; adopting a depth decision network method to decide a time headway which should be kept between the vehicle and a front vehicle on the same lane after the time domain time is planned, and a target lane of the vehicle; planning a longitudinal reference trajectory and a transverse reference trajectory of the vehicle; and according to the longitudinal reference trajectory and the transverse reference trajectory, solving a final trajectory of the vehicle by adopting a trajectory re-planning method based on model predictive control. According to the method, the coupling of longitudinal and transverse movement of the vehicle is considered, the track better conforming to the dynamic characteristics of the vehicle is planned, and the safety, economical efficiency and environmental protection performance of vehicle driving are improved by constructing the risk degree objective function, the fuel consumption objective function and the emission objective function.

Description

technical field [0001] The invention belongs to the technical field of automatic driving, and in particular relates to a vertically and horizontally coupled intelligent vehicle trajectory planning method and system. Background technique [0002] Vehicle intelligence is one of the main development directions of current vehicle technology, and automatic driving technology is a key technology in the process of vehicle intelligence. A smart car with automatic driving function should have good perception function, decision-making function, trajectory planning function and full wire control actuator. Among them, the trajectory planning function is to plan a safe and efficient driving trajectory according to the current surrounding environment, and provide it to the actuator for corresponding steering and acceleration and deceleration control. Trajectory planning technology is an important part of autonomous driving technology, which determines the driving trajectory of autonomous...

AI Technical Summary

Problems solved by technology

Although the existing methods can plan safe driving trajectories, they do not consider the coupling of the vehicle's longitudinal and lateral motion, and the planned trajectories may exceed the vehicle's dynamic capabilities.

[0004] In addition, the existing methods do not consider the vehicle's fuel economy and pollution emissions during the trajectory planning process, and cannot fully improve the economy and environmental protection of vehicles.

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