Track planning method, device and equipment and readable storage medium

Abstract

The invention provides a trajectory planning method, apparatus and device, and a readable storage medium. The trajectory planning method comprises the steps of obtaining state quantity information of a starting point and an ending point of a to-be-planned trajectory curve of a vehicle; performing segmentation processing on the trajectory curve to be planned through displacement equiquantization and speed equiquantization, and determining an intermediate control point on the trajectory curve; based on the state quantity information of the starting point and the ending point, first duration / second duration and lateral acceleration of a middle control point are obtained through calculation; obtaining an acceleration Bezier curve corresponding to the acceleration information of each point on the whole track curve according to the starting point, the middle control point and the end point; and carrying out two times of integration on a curve formula corresponding to the acceleration Bezier curve based on the sum of the first duration and the second duration to obtain the trajectory curve. The trajectory planning method based on the acceleration Bezier curve has the advantages of being small in calculation amount, high in real-time performance, smooth in planned trajectory, easy to achieve tracking control and the like.

Description

technical field [0001] The present invention relates to the field of intelligent driving, and in particular, to a trajectory planning method, device, device and readable storage medium. Background technique [0002] During the driving process of the intelligent vehicle, it is necessary to combine the lane line information of the lane where the vehicle is located and its own motion state information to plan a smooth trajectory that satisfies the dynamic constraints and the requirements of the lateral control of the vehicle, that is, path planning. However, the existing trajectory planned in the lateral control process of the intelligent driving vehicle is not stable and smooth, and the rate of change of the lateral acceleration of the trajectory point at each moment relative to the lane line is large, which will not only reduce the driving comfort, but even cause There is a risk of the vehicle veering out of the driveway. SUMMARY OF THE INVENTION [0003] The main purpose ...

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Problems solved by technology

[0003] The main purpose of the present invention is to provide a trajectory planning method, device, equipment and readable storage medium, aiming to solve the problem that the trajectory curve planned by the existing trajectory planning method is not stable and smooth enough, and the trajectory points at each moment are relative to the lane line. Technical problem with large rate of change of lateral acceleration

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