Lane changing obstacle avoidance track generation method and related equipment

Abstract

The invention discloses a lane changing obstacle avoidance track generation method and related equipment, and the method comprises the steps: calculating a geometric distance between a matching reference point and each point in an ordered set of discrete points of a target matching track through a matching point obtaining module, so as to obtain the information of the matching reference point of a vehicle on a global track; a track availability judgment module based on the distance from the obstacle judges whether the local track meets the vehicle passing requirement or not according to the judgment track discrete point ordered set, the judgment obstacle information set, the vehicle width and the redundancy so as to obtain a track availability result; a quintic polynomial local obstacle avoidance track is generated and fused with a global track through matching reference point information obtained by calling a matching point by a lane changing obstacle avoidance track generation main module and a track availability result of a track availability judgment module for judging the distance between the quintic polynomial local obstacle avoidance track and an obstacle, and an updated current global track discrete point ordered set is generated; and controlling the transverse and longitudinal directions of the vehicle based on the updated current global track discrete point ordered set.

Description

Technical Field

[0001] The present specification relates to the field of vehicle simulation, and more specifically, to a lane change obstacle avoidance trajectory generation method and related equipment. Background Art

[0002] In the scenario of autonomous driving or assisted driving, lane change and obstacle avoidance is one of the important functions to ensure vehicle driving safety. With the continuous development of autonomous driving technology, when a vehicle encounters an obstacle during driving, how to avoid the obstacle efficiently and safely without affecting the overall driving trajectory has become a key issue. Traditional lane change and obstacle avoidance methods mostly use preset obstacle avoidance strategies or simple path planning algorithms, but these methods are difficult to fully consider the relative position of the obstacle and the vehicle and the smoothness of the trajectory under complex road conditions, which can easily lead to the obstacle avoidance trajectory being too rigid and unnatural, affecting passenger comfort and driving safety.

[0003] In addition, many existing methods do not fully utilize the distance information between the vehicle and the obstacle, and are often based on a single trajectory planning, which cannot dynamically adjust the vehicle's lane change strategy to cope with different traffic environments. Therefore, the current technology urgently needs a more flexible and intelligent lane change obstacle avoidance method that can smoothly generate obstacle avoidance trajectories and effectively cope with different obstacle situations. Summary of the invention

[0004] The present disclosure aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] In view of this, in a first aspect, an embodiment of the present disclosure proposes a method for generating a lane change obstacle avoidance trajectory, comprising:

[0006] The geometric distance between the matching reference point and each point in the ordered set of discrete points of the target matching trajectory is calculated by the matching point acquisition module to obtain the matching reference point information of the vehicle on the global trajectory, wherein the matching reference point information includes the matching point coordinates, the matching point sequence number and the geometric distance of the matching point;

[0007] By using a trajectory availability determination module based on the distance to the obstacle, determining whether the local trajectory meets the requirements for vehicle passing according to the ordered set of discrete points of the determination trajectory, the set of obstacle information, the vehicle width and the redundancy, a trajectory availability result is obtained, wherein the trajectory availability result includes a trajectory availability flag and the first matching point number of the obstacle in the ordered set of discrete points of the determination trajectory;

[0008] The lane change obstacle avoidance trajectory generation main module calls the matching reference point information obtained by the matching point and the trajectory availability result of the trajectory availability judgment module based on the distance from the obstacle, generates a quintic polynomial local obstacle avoidance trajectory and merges it with the global trajectory, generates an updated ordered set of discrete points of the current global trajectory, and controls the lateral and longitudinal directions of the vehicle based on the updated ordered set of discrete points of the current global trajectory.

[0009] In a feasible implementation, the above-mentioned calculation of the geometric distance between the matching reference point and each point in the ordered set of discrete points of the target matching trajectory by the matching point acquisition module to obtain the matching reference point information of the vehicle on the global trajectory includes:

[0010] Obtain an ordered set of the above matching reference points and target matching trajectory discrete points;

[0011] Initialize the initial conditions for matching point search;

[0012] Calculate the geometric distance between the above matching reference point and each discrete point in the ordered set of discrete points of the target matching trajectory;

[0013] Compare the above geometric distance with the recorded matching point distance;

[0014] When the geometric distance is smaller than the recorded matching point distance, updating the matching reference point information;

[0015] When the geometric distance is greater than or equal to the recorded matching point distance, the next matching reference is compared until all matching reference points are compared to obtain matching reference point information of the vehicle on the global trajectory.

[0016] In a feasible implementation manner, the above-mentioned trajectory availability determination module based on the distance to the obstacle determines whether the local trajectory meets the requirements for vehicle passing according to the ordered set of trajectory discrete points, the obstacle information set, the vehicle width and the redundancy to obtain the trajectory availability result, including:

[0017] Obtaining the ordered set of discrete points of the determined trajectory and the determined obstacle information set;

[0018] Calculate the geometric distance between the ordered set of discrete points of the determined trajectory and the discrete points of the corresponding elements in the determined obstacle information set and the current obstacle;

[0019] Based on the geometric distance between the discrete point and the current obstacle, the obstacle radius, the vehicle width and the redundancy, it is determined whether the local trajectory meets the requirements for vehicle passing, so as to obtain the trajectory availability result.

[0020] In a feasible implementation manner, the lane change obstacle avoidance trajectory generation main module calls the matching reference point information obtained by the matching point and the trajectory availability result of the trajectory availability determination module based on the distance from the obstacle, generates a quintic polynomial local obstacle avoidance trajectory and merges it with the global trajectory, generates an updated ordered set of discrete points of the current global trajectory, and controls the lateral and longitudinal directions of the vehicle based on the updated ordered set of discrete points of the current global trajectory, including:

[0021] The vehicle center coordinates are set based on the matching reference point information in the matching reference point acquisition module, the current global trajectory discrete point ordered set is set as the target matching trajectory discrete point ordered set in the matching point acquisition module, and the matching point coordinates and matching point sequence numbers of the vehicle center in the current global trajectory are obtained;

[0022] In the above-mentioned ordered set of current global trajectory discrete points, starting from the vehicle center matching point, the discrete points whose arc length of the local trajectory is not less than the set threshold are intercepted as the ordered set of local reference trajectory discrete points;

[0023] The ordered set of local reference trajectory discrete points is set as the ordered set of determination trajectory discrete points, the obstacle information set around the vehicle is set as the determination obstacle information set, and a trajectory availability determination module based on the distance to the obstacle is called to obtain the trajectory availability flag of the ordered set of local reference trajectory discrete points and the first matching point number of the obstacle in the ordered set of determination trajectory discrete points;

[0024] Determine whether the local reference trajectory is available. If the local reference trajectory is available, use the ordered set of discrete points of the current global trajectory directly as the new global trajectory.

[0025] When the local reference trajectory is unavailable, the first matching point number of the rear end of the obstacle in the global trajectory is calculated based on the first matching point number of the obstacle and the center matching point number of the vehicle;

[0026] Determine the coordinates of the matching points of the target lane center reference line set and the obstacle on the target lane line according to the position of the obstacle in the current trajectory, the first lane center line reference point set and the second lane center line reference point set;

[0027] Calculate the quintic polynomial local obstacle avoidance trajectory direction flag based on the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory and the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory on the target lane line;

[0028] Based on the obstacle information, the vehicle matching point, the first matching point number of the obstacle in the global trajectory, and the trajectory direction flag, a quintic polynomial local obstacle avoidance trajectory equation group is used to obtain an ordered final set of discrete points of the local obstacle avoidance trajectory;

[0029] Generate the current global trajectory discrete point ordered set based on the current global trajectory discrete point ordered set, the fifth-order polynomial local obstacle avoidance trajectory discrete point ordered final set, and the target lane center reference line discrete point ordered set, wherein the current global trajectory discrete point ordered set includes the discrete points in the current global trajectory whose sequence numbers are less than the starting point of the obstacle avoidance trajectory, the fifth-order polynomial local obstacle avoidance trajectory discrete point set, and all discrete points in the target lane center reference line whose sequence numbers are greater than the matching points of the end point of the obstacle avoidance trajectory;

[0030] The ordered set of discrete points of the current global trajectory is updated to a new trajectory and used for the lateral and longitudinal control of the vehicle.

[0031] In a feasible implementation manner, in the above-mentioned current global trajectory discrete point ordered set, starting from the vehicle center matching point, intercepting the discrete points whose arc length of the local trajectory is not less than the set threshold as the local reference trajectory discrete point ordered set, including:

[0032] When the arc length of the ordered set of local reference trajectory discrete points is greater than or equal to the local trajectory arc length setting threshold, the geometric distances of adjacent discrete points with element numbers K and K+1 in the current ordered set of global trajectory discrete points are calculated, and the arc length of the ordered set of local reference trajectory discrete points is reduced to increase the geometric distance of the adjacent discrete points, and the matching operation is continued;

[0033] Until the arc length of the above-mentioned reference trajectory discrete point ordered set is less than the above-mentioned local trajectory arc length setting threshold, in the current global trajectory discrete point ordered set, all discrete points with the matching point of the vehicle center in the current global trajectory as the starting point and the discrete point element serial number of the current global trajectory discrete point ordered set plus the discrete point as the end point constitute the local reference trajectory discrete point ordered set.

[0034] In a feasible implementation manner, the above-mentioned determining the target lane center reference line set and the coordinates of the matching points of the obstacle on the target lane line according to the position of the obstacle in the current trajectory, the first lane center line reference point set and the second lane center line reference point set includes:

[0035] Calculate a first distance based on the position in the current trajectory and the first lane centerline reference point set;

[0036] Calculate a second distance based on the position in the current trajectory and the second lane centerline reference point set;

[0037] Determine the target lane according to the first distance and the second distance;

[0038] Based on the target lane, a target lane center reference line set and the coordinates of matching points of obstacles on the target lane line are determined.

[0039] In a feasible implementation manner, the calculation of the quintic polynomial local obstacle avoidance trajectory direction flag based on the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory and the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory on the target lane line includes:

[0040] The coordinates of the first matching point of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory and the coordinates of the first matching point of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory on the target lane line form a first vector;

[0041] Calculate the unit normal vector of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory based on the first matching point sequence number of the obstacle behind the vehicle matching point in the current global reference trajectory and its two adjacent discrete points;

[0042] Based on the angle between the unit normal vector and the first vector, the direction flag of the quintic polynomial local obstacle avoidance trajectory is determined.

[0043] In a feasible implementation manner, the above-mentioned calculation of the unit normal vector of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory based on the first matching point sequence number of the obstacle behind the vehicle matching point in the current global reference trajectory and its two adjacent discrete points includes:

[0044] Calculate the vector A1 composed of the first two adjacent discrete points of three adjacent discrete points in the ordered set of discrete points of the current global trajectory; calculate the vector A2 composed of the last two adjacent discrete points of three adjacent discrete points;

[0045] Determine whether the vector A1 and the vector A2 are collinear;

[0046] In the case of collinearity, the unit normal vector is calculated based on the modulus of the vector A1, the abscissa of the vector A1 and the ordinate of the vector A1;

[0047] In the case of non-collinearity, the discrete coordinates corresponding to the first matching point number of the obstacle behind the vehicle matching point in the current global reference trajectory and the center coordinates of the circumscribed circle of the triangle formed by three consecutive discrete points are calculated;

[0048] The vector A3 is formed based on the coordinates of the discrete point corresponding to the first matching point number of the rear end of the vehicle matching point in the current global reference trajectory and the coordinates of the center of the circumscribed circle;

[0049] The unit vector in the direction of the above vector A3 is used as the unit normal vector of the first matching point of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory.

[0050] In a feasible implementation manner, based on the obstacle information, the vehicle matching point, the first matching point sequence number of the obstacle in the global trajectory, and the trajectory direction flag, a quintic polynomial local obstacle avoidance trajectory equation group is used to obtain an ordered final set of discrete points of the local obstacle avoidance trajectory, including:

[0051] According to the preset obstacle avoidance trajectory arc length, calculate the front end point and rear end point of the discrete point corresponding to the first matching point sequence number of the rear end of the obstacle in the global trajectory in the obstacle information;

[0052] The front end point and the rear end point of the above discrete points are respectively set as the reference starting point sequence number and the reference end point sequence number of the obstacle avoidance trajectory;

[0053] According to the reference starting point sequence number and the reference end point sequence number, an ordered set of reference discrete points of the quintic polynomial local obstacle avoidance trajectory is formed by intercepting from the current global trajectory discrete point set;

[0054] Calculate characteristic parameters for each discrete point in the ordered set of reference discrete points of the quintic polynomial local obstacle avoidance trajectory, wherein the characteristic parameters include a unit normal vector, a curvature, and an arc length from the discrete point to the first discrete point;

[0055] Obtain the matching point number and minimum distance of the last discrete point in the target lane reference line in the above quintic polynomial local obstacle avoidance reference trajectory set;

[0056] Based on the total arc length in the quintic polynomial local obstacle avoidance trajectory reference set, the distance from the last discrete point to the center line of the target lane, and the trajectory direction flag in the lane change obstacle avoidance trajectory generation method, the quintic polynomial local obstacle avoidance trajectory equation group is used to calculate the quintic polynomial coefficients;

[0057] Using the polynomial coefficients in the Frent coordinate system, combined with the curvature and arc length of each discrete point, the global coordinates of the quintic polynomial local obstacle avoidance trajectory are calculated to generate a preliminary obstacle avoidance trajectory set;

[0058] Perform distance and curvature judgment between the obstacle avoidance trajectory and the obstacle, and update the reference starting point sequence number and reference end point sequence number of the obstacle avoidance trajectory based on the judgment results;

[0059] Based on the preliminary set of quintic polynomial obstacle avoidance trajectories, an ordered final set of discrete points of local obstacle avoidance trajectories is obtained.

[0060] In a second aspect, the present disclosure also provides a lane change obstacle avoidance trajectory generation device, including:

[0061] A calculation unit, used for calculating the geometric distance between the matching reference point and each point in the ordered set of discrete points of the target matching trajectory through a matching point acquisition module, so as to obtain the matching reference point information of the vehicle on the global trajectory, wherein the matching reference point information includes the matching point coordinates, the matching point sequence number and the matching point geometric distance;

[0062] an acquisition unit, configured to determine whether the local trajectory meets the requirement for vehicle passing by using a trajectory availability determination module based on the distance to the obstacle according to the ordered set of discrete points of the determination trajectory, the set of obstacle information, the vehicle width and the redundancy, so as to obtain a trajectory availability result, wherein the trajectory availability result includes a trajectory availability flag and a first matching point number of the obstacle in the ordered set of discrete points of the determination trajectory;

[0063] A generation unit is used to call the matching reference point information obtained by the lane change obstacle avoidance trajectory generation main module and the trajectory availability result of the trajectory availability judgment module based on the distance from the obstacle, generate a quintic polynomial local obstacle avoidance trajectory and merge it with the global trajectory, generate an updated ordered set of discrete points of the current global trajectory, and control the lateral and longitudinal directions of the vehicle based on the updated ordered set of discrete points of the current global trajectory.

[0064] In summary, the lane change obstacle avoidance trajectory generation method of the embodiment of the present disclosure includes: calculating the geometric distance between the matching reference point and each point in the ordered set of discrete points of the target matching trajectory through a matching point acquisition module to obtain the matching reference point information of the vehicle on the global trajectory, wherein the above-mentioned matching reference point information includes the matching point coordinates, the serial number of the matching point and the geometric distance of the matching point; judging whether the local trajectory meets the requirements for vehicle passing through the ordered set of discrete points of the determination trajectory, the determination obstacle information set, the vehicle width and the redundancy through a trajectory availability determination module based on the distance from the obstacle to obtain a trajectory availability result, wherein the above-mentioned trajectory availability result includes a trajectory availability flag and the first matching point serial number of the obstacle in the ordered set of discrete points of the determination trajectory; calling the matching reference point information obtained by the matching point and the trajectory availability result of the above-mentioned trajectory availability determination module based on the distance from the obstacle through the main module for generating the lane change obstacle avoidance trajectory, generating a quintic polynomial local obstacle avoidance trajectory and merging it with the global trajectory, generating an updated current global trajectory discrete point ordered set, and controlling the lateral and longitudinal directions of the vehicle based on the above-mentioned updated current global trajectory discrete point ordered set. The present disclosure does not only rely on the current position of the vehicle and the position of the obstacle to make a simple obstacle avoidance decision, but also combines multi-dimensional information such as the distance between the vehicle and the obstacle, the width of the vehicle, and the redundancy to dynamically determine the availability of the trajectory. This multi-factor judgment greatly improves the accuracy and safety of obstacle avoidance. Unlike traditional linear programming or quadratic polynomial methods, quintic polynomials can generate smoother trajectories. This trajectory can not only ensure the continuity and smoothness of the obstacle avoidance operation, but also effectively avoid passenger discomfort or safety hazards caused by excessively rigid or sudden changes in the path. The present disclosure seamlessly integrates the local obstacle avoidance trajectory with the global trajectory to ensure that the vehicle can return to the preset global driving trajectory after avoiding obstacles. Compared with a single local trajectory planning method, this method of combining global and local trajectories can ensure the stability of the vehicle's driving route and will not deviate from the overall driving goal due to obstacle avoidance. The present disclosure can adjust the trajectory in real time according to the vehicle's driving state and environmental changes to ensure the timeliness and adaptability of the obstacle avoidance process. At the same time, by controlling the horizontal and vertical directions of the vehicle, it can ensure the smooth driving of the vehicle during the obstacle avoidance process without causing unnecessary sudden stops or sudden accelerations. The method proposed in the present invention takes the vehicle position as a reference, intercepts a section of the global trajectory as the local trajectory, and determines whether the distance between the local trajectory and the obstacle meets the requirements for vehicle passage. If so, the global trajectory is not updated. If not, the first obstacle matching point at the rear end of the vehicle position in the global trajectory is used as a reference to obtain the obstacle avoidance reference starting point and reference end point to generate a quintic polynomial obstacle avoidance trajectory whose distance and curvature from the obstacle meet the requirements for vehicle passage. The global trajectory and the center line of the target lane are combined and updated to form a new global trajectory, which can efficiently realize the lane change control of unmanned vehicles in dual-lane scenarios.

[0065] The lane change obstacle avoidance trajectory generation method proposed in the present disclosure, and other advantages, objectives and features of the present disclosure will be partially reflected through the following description, and will also be partially understood by technicians in the field through research and practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present specification. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0067] Figure 1 A schematic diagram of a process for generating a lane change obstacle avoidance trajectory provided by an embodiment of the present disclosure;

[0068] Figure 2 A schematic diagram of a process for obtaining an ordered set of discrete points of a local reference trajectory provided by an embodiment of the present disclosure;

[0069] Figure 3 A schematic diagram of the process of a trajectory availability determination module based on the distance to an obstacle provided in an embodiment of the present disclosure;

[0070] Figure 4 A schematic diagram of the process of generating a main module for lane change and obstacle avoidance trajectory provided by an embodiment of the present disclosure;

[0071] Figure 5 A schematic diagram of a sub-process for obtaining an ordered set and a sum of discrete points of a local reference trajectory in a lane change obstacle avoidance trajectory generation main module provided in an embodiment of the present disclosure;

[0072] Figure 6 The sub-process intention of obtaining the coordinates of the first matching point of the rear end of the vehicle matching point of the obstacle on the target lane line provided by the embodiment of the present disclosure is an ordered set of discrete points of the target lane center reference line;

[0073] Figure 7 A schematic diagram of a sub-process for calculating characteristic parameters of each discrete point of a trajectory provided by an embodiment of the present disclosure;

[0074] Figure 8 A schematic diagram of a lane change obstacle avoidance trajectory generation structure proposed in an embodiment of the present disclosure;

[0075] Fig. 9 A structural schematic diagram of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0076] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments.

[0077] See also Figure 1 , is a schematic diagram of a process of generating a lane change obstacle avoidance trajectory provided by an embodiment of the present disclosure, which may specifically include:

[0078] S110, calculating the geometric distance between the matching reference point and each point in the ordered set of discrete points of the target matching trajectory through a matching point acquisition module to obtain matching reference point information of the vehicle on the global trajectory, wherein the matching reference point information includes matching point coordinates, matching point serial numbers, and matching point geometric distances;

[0079] Exemplarily, the geometric distance between the matching reference point and each point in the ordered set of discrete points of the target matching trajectory is calculated by the matching point acquisition module. The goal of this step is to determine the specific position of the vehicle on the global trajectory and obtain the information of the matching reference point, including the coordinates, serial number and geometric distance between the vehicle and the matching point of the matching point. This information provides a basic reference for the subsequent obstacle avoidance trajectory generation.

[0080] The lane change obstacle avoidance trajectory generation main module calls the matching reference point information and trajectory availability results obtained in the first two steps, and uses the quintic polynomial to generate a local obstacle avoidance trajectory. This trajectory will be fused with the global trajectory to generate an updated current global trajectory discrete point set. Then, the system controls the vehicle's lateral and longitudinal directions according to the new global trajectory set, thereby achieving a smooth transition in the obstacle avoidance process.

[0081] S120, determining whether the local trajectory meets the requirements for vehicle passing according to the ordered set of discrete points of the determination trajectory, the set of obstacle information, the vehicle width and the redundancy through a trajectory availability determination module based on the distance to the obstacle, so as to obtain a trajectory availability result, wherein the trajectory availability result includes a trajectory availability flag and the first matching point number of the obstacle in the ordered set of discrete points of the determination trajectory;

[0082] For example, a trajectory availability determination module based on the distance to the obstacle evaluates whether the vehicle's current local trajectory meets the passing requirements. The module determines whether the current trajectory is available based on factors such as the set of discrete points of the determination trajectory, the location information of the obstacle, the width of the vehicle, and the safety margin, and outputs a flag indicating that the trajectory is available and the sequence number of the first matching point at the obstacle location.

[0083] S130, the lane change obstacle avoidance trajectory generation main module calls the matching reference point information obtained by the matching point and the trajectory availability result of the above-mentioned trajectory availability determination module based on the distance from the obstacle, generates a quintic polynomial local obstacle avoidance trajectory and merges it with the global trajectory, generates an updated ordered set of discrete points of the current global trajectory, and controls the lateral and longitudinal directions of the vehicle based on the above-mentioned updated ordered set of discrete points of the current global trajectory.

[0084] The main module for generating obstacle avoidance trajectories through lane change calls the matching reference point information and trajectory availability results obtained in the first two steps, and generates a local obstacle avoidance trajectory using a quintic polynomial. This trajectory will be fused with the global trajectory to generate an updated set of discrete points of the current global trajectory. Then, the system controls the vehicle's lateral and longitudinal directions according to the new global trajectory set, thereby achieving a smooth transition of the obstacle avoidance process.

[0085] In summary, the present disclosure does not only rely on the current position of the vehicle and the position of the obstacle to make a simple obstacle avoidance decision, but also combines multi-dimensional information such as the distance between the vehicle and the obstacle, the width of the vehicle, and the redundancy to dynamically determine the availability of the trajectory. This multi-factor judgment greatly improves the accuracy and safety of obstacle avoidance. Unlike traditional linear programming or quadratic polynomial methods, quintic polynomials can generate smoother trajectories. This trajectory can not only ensure the continuity and smoothness of the obstacle avoidance operation, but also effectively avoid passenger discomfort or safety hazards caused by excessively rigid or sudden changes in the path. The present disclosure seamlessly integrates the local obstacle avoidance trajectory with the global trajectory to ensure that the vehicle can return to the preset global driving trajectory after avoiding obstacles. Compared with a single local trajectory planning method, this method of combining global and local trajectories can ensure the stability of the vehicle's driving route and will not deviate from the overall driving goal due to obstacle avoidance. The present disclosure can adjust the trajectory in real time according to the vehicle's driving state and environmental changes to ensure the timeliness and adaptability of the obstacle avoidance process. At the same time, by controlling the horizontal and vertical directions of the vehicle, it can ensure the smooth driving of the vehicle during the obstacle avoidance process without causing unnecessary sudden stops or sudden accelerations. The method proposed in the present invention takes the vehicle position as a reference, intercepts a section of the global trajectory as the local trajectory, and determines whether the distance between the local trajectory and the obstacle meets the requirements for vehicle passage. If so, the global trajectory is not updated. If not, the first obstacle matching point at the rear end of the vehicle position in the global trajectory is used as a reference to obtain the obstacle avoidance reference starting point and reference end point to generate a quintic polynomial obstacle avoidance trajectory whose distance and curvature from the obstacle meet the requirements for vehicle passage. The global trajectory and the center line of the target lane are combined and updated to form a new global trajectory, which can efficiently realize the lane change control of unmanned vehicles in dual-lane scenarios.

[0086] In some examples, step S110 calculates the geometric distance between the matching reference point and each point in the ordered set of discrete points of the target matching trajectory through the matching point acquisition module to obtain the matching reference point information of the vehicle on the global trajectory, including:

[0087] Obtain an ordered set of the above matching reference points and target matching trajectory discrete points;

[0088] S1101, initializing the initial conditions for matching point search;

[0089] S1102, calculating the geometric distance between the matching reference point and each discrete point in the ordered set of discrete points of the target matching trajectory;

[0090] S1103, comparing the geometric distance and the recorded matching point distance;

[0091] S1104: when the geometric distance is smaller than the recorded matching point distance, update the matching reference point information;

[0092] S1105. When the geometric distance is greater than or equal to the recorded matching point distance, continue to compare the next matching reference until all matching reference points are compared to obtain matching reference point information of the vehicle on the global trajectory.

[0093] For example, Figure 2 As shown, the specific steps of matching the reference points and the ordered set of discrete points of the target matching trajectory may include:

[0094] Step 1-1: Obtain the ordered set of discrete points of the target matching trajectory MTP = {(X_MTP(i), Y_MTP(i))|1≤i≤N_MTP} and the coordinates of the matching reference point CP (XC, YC).

[0095] Wherein: MTP is the ordered set of discrete points of target matching trajectory; X_MTP(i) is the horizontal coordinate of the discrete point with sequence number i in the ordered set of discrete points of target matching trajectory; Y_MTP(i) is the vertical coordinate of the discrete point with sequence number i in the ordered set of discrete points of target matching trajectory; N_MTP is the total number of discrete point elements in the ordered set of discrete points of target matching trajectory; XC is the horizontal coordinate of the matching reference point CP; YC is the vertical coordinate of the matching reference point CP.

[0096] Step 1-2: Set the initial value of the discrete point element number i in the target matching trajectory discrete point ordered set MTP to 1; set the number number_CP_MTP_MatchPoint of the matching reference point in the target matching trajectory discrete point ordered set to 0; set the geometric distance d_CP_MTP_MatchPoint of the matching reference point in the target matching trajectory discrete point ordered set to 0.

[0097] Where: number_CP_MTP_MatchPoint——the serial number of the matching reference point in the ordered set of discrete points of the target matching trajectory; d_CP_MTP_MatchPoint——the geometric distance of the matching reference point in the ordered set of discrete points of the target matching trajectory

[0098] Step 1-3: Determine whether all discrete point elements in the ordered set of discrete points of the target matching trajectory MTP have not been compared and calculated, that is, i≤N_MTP. If the inequality holds, execute step 1-4; if the inequality does not hold, the matching point information is successfully obtained, and execute step 1-9.

[0099] Step 1-4: Calculate the geometric distance d_CP_MTP(i) between the matching reference point and the discrete point in the ordered set of discrete points of the target matching trajectory, i.e.:

[0100]

[0101] Where: d_CP_MTP(i)——The geometric distance between the matching reference point and the discrete point element number i in the ordered set of discrete points of the target matching trajectory

[0102] Step 1-5: Determine whether the discrete point element number i in the ordered set of discrete points of the target matching trajectory is the first element in the ordered set of discrete points of the target matching trajectory, that is, i=1. If i is equal to 1, execute step 1-7; if i is not equal to 1, execute step 1-6.

[0103] Step 1-6: Compare the geometric distance d_CP_MTP_MatchPoint between the matching reference point and the matching point in the ordered set of discrete points of the target matching trajectory to see if it is greater than the geometric distance d_CP_MTP(i) between the matching reference point and the discrete point element number i in the ordered set of discrete points of the target matching trajectory; if it is greater, execute step 1-7; if not, execute step 1-8.

[0104] Step 1-7: The order number_CP_MTP_MatchPoint of the matching reference point in the ordered set of discrete points of the target matching trajectory is equal to the order number i of the discrete point element in the ordered set of discrete points of the target matching trajectory; the geometric distance d_CP_MTP_MatchPoint of the matching reference point in the ordered set of discrete points of the target matching trajectory is equal to the geometric distance d_CP_MTP(i) between the matching reference point and the discrete point with the order number i in the ordered set of discrete points of the target matching trajectory; the coordinates of the matching reference point in the ordered set of discrete points of the target matching trajectory (X_CP_MTP_MatchPoint, Y_CP_MTP_MatchPoint) are equal to the coordinates of the discrete point with the order number i in the ordered set of discrete points of the target matching trajectory (X_MTP(i), Y_MTP(i)).

[0105] Step 1-8: The discrete point element number i in the ordered set of discrete points of the current target matching trajectory is incremented by 1. That is, i=i+1

[0106] Step 1-9: The serial number number_CP_MTP_MatchPoint of the matching reference point in the ordered set of discrete points of the target matching trajectory, the geometric distance d_CP_MTP_MatchPoint of the matching reference point in the ordered set of discrete points of the target matching trajectory, and the coordinates of the matching reference point in the ordered set of discrete points of the target matching trajectory (X_CP_MTP_MatchPoint, Y_CP_MTP_MatchPoint) are obtained successfully.

[0107] In some examples, step S120 determines whether the local trajectory meets the requirements for vehicle passing by using a trajectory availability determination module based on the distance to the obstacle according to the ordered set of trajectory discrete points, the obstacle information set, the vehicle width, and the redundancy to obtain a trajectory availability result, including:

[0108] S1201, obtaining the ordered set of discrete points of the determination trajectory and the determined obstacle information set;

[0109] S1202, calculating the geometric distance between the ordered set of discrete points of the determined trajectory and the discrete points of the corresponding elements in the determined obstacle information set and the current obstacle;

[0110] S1203: Based on the geometric distance between the discrete point and the current obstacle, the obstacle radius, the vehicle width and the redundancy, determine whether the local trajectory meets the requirement for vehicle passing, so as to obtain the trajectory availability result.

[0111] For example, Figure 3 As shown, the steps of the trajectory availability determination module based on the distance to the obstacle include:

[0112] Step 2-1: Obtain the ordered set of discrete points of the determination trajectory DTP = {(X_DTP(b), Y_DTP(b)|1≤b≤N_DetermineTrajectory}

[0113] Where: DTP - Determine Trajectory ordered set of discrete points; X_DTP(b) - the horizontal coordinate of the bth discrete point in the determined trajectory ordered set of discrete points; Y_DTP(b) - the total coordinate of the bth discrete point in the determined trajectory ordered set of discrete points; b - the sequence number of the discrete point in the determined trajectory ordered set of discrete points. N_DetermineTrajectory - the total number of discrete point elements in the determined trajectory ordered set of discrete points.

[0114] Step 2-2: Obtain obstacle information set 0B = {(X_OB(j), Y_OB(i), R_OB(j))I1≤j≤N_Obstacle}

[0115] Where: 0B——obstacle information set; X_OB(j)——the horizontal coordinate of the center of the jth obstacle in the obstacle information set; Y_OB(j)——the vertical coordinate of the center of the jth obstacle in the obstacle information set; R_OB(j)——the radius of the jth obstacle in the obstacle information set; j——the sequence number of the obstacle in the obstacle information set; N_Obstacle——the total number of obstacles in the obstacle information set;

[0116] Step 2-3: Set the initial value of the sequence number b in the ordered set of discrete points of the determination trajectory to 1.

[0117] Step 2-4: Determine whether the sequence number b in the ordered set of discrete points of the trajectory is not greater than the total number of discrete point elements N_DetermineTRajectory in the ordered set of discrete points of the determination trajectory. That is, b<=N_DetermineTRajectory. If the inequality holds, execute step 2-12; if the inequality does not hold, execute step 2-5.

[0118] Step 2-5: Set the initial number j of the obstacle information set to 1;

[0119] Step 2-6: Determine whether the obstacle information set number j is not greater than the total number of obstacles in the obstacle information set N_OBstacle. That is, j <= N_Obstacle. If it is less than, execute step 2-8; if it is not less than, execute step 2-7.

[0120] Step 2-7: Determine that the sequence number b in the ordered set of discrete points of the trajectory is incremented by 1, and then jump to step 2-4 to execute.

[0121] Step 2-8: Calculate the geometric distance d_DTP_OB(bj) between the discrete point with sequence number b in the ordered set of trajectory discrete points and the obstacle with sequence number j in the obstacle information set.

[0122] Right now

[0123] Where: d_DTP_OB(bj)——The geometric distance between the discrete point with sequence number b in the ordered set of trajectory discrete points and the obstacle with sequence number j in the obstacle determination information set

[0124] Step 2-9: Calculate whether the difference between the set distance d_DTP_OB(bj) between the discrete point with sequence number i in the ordered set of trajectory discrete points and the obstacle with sequence number j in the obstacle information set and the radius R_OB(j) of the obstacle is greater than or equal to the sum of half of the width Width_VEhicle of the vehicle and the redundant amount △Width. That is: d_DTP_OB(bj)-R_OB(j)>Width_VEhicle+△Width. If the inequality holds, execute step 2-10; if the inequality does not hold, execute step 2-11.

[0125] Among them: Width_Vehicle——the width of the vehicle; △Width——the redundancy, which can be 30cm.

[0126] Step 2-10: The obstacle information set number j is incremented by 1, and the process jumps to step 2-6.

[0127] Step 2-11: If the ordered set of discrete points of the determined trajectory is not usable, set the flag DTP_Flag that determines the ordered set of discrete points of the determined trajectory to be usable to 0; set the first matching point number of the obstacle in the ordered set of discrete points of the determined trajectory, number_DTP_OB_fristmatchpoint, to k. The calculation ends. If the ordered set of discrete points of the determined trajectory is usable, set the flag DTP_Flag that determines the ordered set of discrete points of the determined trajectory to be usable to 1; set the first matching point number of the obstacle in the ordered set of discrete points of the determined trajectory, number_DTP_OB_fristmatchpoint, to 0. The calculation ends.

[0128] In some examples, S130 calls the matching reference point information obtained by the lane change obstacle avoidance trajectory generation main module and the trajectory availability result of the trajectory availability determination module based on the distance from the obstacle to generate a quintic polynomial local obstacle avoidance trajectory and merges it with the global trajectory to generate an updated ordered set of discrete points of the current global trajectory, and controls the lateral and longitudinal directions of the vehicle based on the updated ordered set of discrete points of the current global trajectory, including:

[0129] S1301, setting the vehicle center coordinates based on the matching reference point information in the matching reference point acquisition module, setting the current global trajectory discrete point ordered set as the target matching trajectory discrete point ordered set in the matching point acquisition module, and obtaining the matching point coordinates and matching point sequence number of the vehicle center in the current global trajectory;

[0130] S1302, in the above-mentioned current global trajectory discrete point ordered set, starting from the vehicle center matching point, intercepting the discrete points whose arc length of the local trajectory is not less than the set threshold as the local reference trajectory discrete point ordered set;

[0131] S1303, setting the above-mentioned local reference trajectory discrete point ordered set as the determination trajectory discrete point ordered set, setting the obstacle information set around the vehicle as the determination obstacle information set, calling the trajectory availability determination module based on the distance to the obstacle, obtaining the above-mentioned trajectory availability flag of the local reference trajectory discrete point ordered set and the first matching point number of the above-mentioned obstacle in the determination trajectory discrete point ordered set;

[0132] S1304, determining whether the local reference trajectory is available, and if the local reference trajectory is available, directly using the ordered set of discrete points of the current global trajectory as a new global trajectory;

[0133] S1305: When the local reference trajectory is unavailable, the first matching point number of the rear end of the obstacle in the global trajectory is calculated based on the first matching point number of the obstacle and the center matching point number of the vehicle;

[0134] S1306, determining the target lane center reference line set and the coordinates of the matching points of the obstacle on the target lane line according to the position of the obstacle in the current trajectory, the first lane center line reference point set and the second lane center line reference point set;

[0135] S1307, calculating the quintic polynomial local obstacle avoidance trajectory direction flag based on the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory and the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory on the target lane line;

[0136] S1308, based on the obstacle information, the vehicle matching point, the first matching point sequence number of the obstacle in the global trajectory, and the trajectory direction flag, using a quintic polynomial local obstacle avoidance trajectory equation group to obtain an ordered final set of discrete points of the local obstacle avoidance trajectory;

[0137] S1309, generating a current global trajectory discrete point ordered set based on the current global trajectory discrete point ordered set, the quintic polynomial local obstacle avoidance trajectory discrete point ordered final set, and the target lane center reference line discrete point ordered set, wherein the current global trajectory discrete point ordered set includes discrete points in the current global trajectory whose sequence numbers are less than the starting point of the obstacle avoidance trajectory, the quintic polynomial local obstacle avoidance trajectory discrete point set, and all discrete points in the target lane center reference line whose sequence numbers are greater than the matching points of the end point of the obstacle avoidance trajectory;

[0138] S1310: Update the ordered set of discrete points of the current global trajectory into a new trajectory, and use it for lateral and longitudinal control of the vehicle.

[0139] For example, Figure 4 As shown, Figure 4 A schematic diagram of the process of generating a main module for lane change obstacle avoidance trajectory provided in an embodiment of the present disclosure, the main steps of which include:

[0140] Step 3-1: Set the vehicle center coordinates (XV, YV) as the matching reference point CP coordinates (XC, YC) in the matching point acquisition module, set the current global trajectory discrete point ordered set GTP = {(XG(K), YG(K))|1≤K≤N_GlobalTRajectory} as the target matching trajectory discrete point ordered set MTP in the matching point acquisition module, and call the matching point acquisition module to obtain the matching point (XVG_MatchPoint, YVG_MatchPoint) of the vehicle center in the current global trajectory and the serial number number_Vehicle_GlobalTrajectoryMatchPoint of the matching point of the vehicle center in the current global trajectory.

[0141] That is, let MTP = GTP, (XC, YC) = (XV, YV), and run the matching point acquisition module, then: (XVG_MatchPoint, YVG_MatchPoint) = (X_CP_MTP_MatchPoint, Y_CP_MTP_MatchPoint);

[0142] number_Vehicle_GlobalTrajectoryMatchPoint=number_CP_MTP_MatchPoint.

[0143] Among them: XV——the horizontal coordinate of the center of the vehicle, YV——the vertical coordinate of the center of the vehicle, GTP——the ordered set of discrete points of the current global trajectory; XG(K)——the horizontal coordinate of the Kth discrete point in the ordered set of discrete points of the current global trajectory; YG(K)——the vertical coordinate of the Kth discrete point in the ordered set of discrete points of the current global trajectory; K——the sequence number of discrete points in the ordered set of discrete points of the current global trajectory; N_GlobalTRajectory——the total number of discrete point elements in the ordered set of discrete points of the current global trajectory. XVG_MatchPoint——the horizontal coordinate of the matching point of the center of the vehicle in the current global trajectory; YVG_MatchPoint——the vertical coordinate of the matching point of the center of the vehicle in the current global trajectory; number_Vehicle_GlobalTrajectoryMatchPoint——the sequence number of the matching point of the center of the vehicle in the current global trajectory.

[0144] Furthermore, the initial value of the current ordered set of global trajectory discrete points GTP = {(XG(K), YG(K))|1≤K≤N_GlobalTRajectory} is the set of discrete points of the road centerline of the lane where the vehicle is located provided by the high-precision map.

[0145] Step 3-2: intercept all discrete points in the current global trajectory discrete point ordered set GTP with the matching point of the vehicle center in the current global trajectory as the starting point and the discrete point with the arc length to the matching point of the vehicle center in the current global trajectory being not less than the local trajectory arc length setting threshold Slimit_LocalTRajectory as the end point as the local reference trajectory discrete point ordered set LTP = {(X_LTP(j), X_LTP(j))|1≤j≤N_LocalTrajectory}.

[0146] Wherein: LTP is the ordered set of discrete points of the local reference trajectory; X_LTP(j) is the horizontal coordinate of the discrete point with the sequence number j in the ordered set of discrete points of the local reference trajectory; Y_LTP(j) is the vertical coordinate of the discrete point with the sequence number j in the ordered set of discrete points of the local reference trajectory; N_LocalTrajectory is the total number of discrete point elements in the ordered set of discrete points of the local reference trajectory; j is the sequence number of the discrete point in the ordered set of discrete points of the local reference trajectory; Slimit_LocalTRajectory is the threshold for setting the arc length of the local trajectory, which can be preferentially taken as 10 meters.

[0147] Step 3-3: Set the ordered set of local reference trajectory discrete points LTP as the ordered set of determination trajectory discrete points DTP, set the obstacle information set around the vehicle as the determination obstacle information set 0B, and call the trajectory availability determination module based on the distance to the obstacle to obtain the availability flag LTP_Flag of the ordered set of local reference trajectory discrete points and the first matching point number number_LTP_OB_fristmatchpoint of the obstacle in the ordered set of local reference trajectory discrete points.

[0148] Wherein: LTP_Flag is the availability flag of the ordered set of discrete points of the local reference trajectory; number_LTP_OB_fristmatchpoint is the first matching point sequence of the obstacle in the ordered set of discrete points of the local reference trajectory.

[0149] Further, the availability flag LTP_Flag of the local reference trajectory discrete point ordered set is equal to the local reference trajectory discrete point ordered set LTP is set to the determination trajectory discrete point ordered set DTP, the obstacle information set around the vehicle is set to the determination obstacle information set 0B, and the determination trajectory discrete point ordered set availability flag DTP_Flag in the calculation result of the trajectory availability determination module based on the distance to the obstacle is called;

[0150] Furthermore, the first matching point number_LTP_OB_fristmatchpoint of the obstacle in the ordered set of local reference trajectory discrete points is equal to the ordered set of local reference trajectory discrete points LTP, which is set to the ordered set of determination trajectory discrete points DTP, and the obstacle information set around the vehicle is set to the determination obstacle information set 0B, and the first matching point number number_DTP_OB_fristmatchpoint of the obstacle in the ordered set of determination trajectory discrete points is called in the calculation result of the trajectory availability determination module based on the distance to the obstacle.

[0151] Step 3-4: Determine whether the ordered set of discrete points of the local reference trajectory LTP is available. That is, whether the availability flag LTP_Flag of the ordered set of discrete points of the local reference trajectory is equal to 1. If the availability flag LTP_Flag of the ordered set of discrete points of the local reference trajectory is equal to 1, the ordered set of discrete points of the local reference trajectory is available, and step 3-5 is executed; if the availability flag LTP_Flag of the ordered set of discrete points of the local reference trajectory is not equal to 1, the ordered set of discrete points of the local reference trajectory is not available, jump to step 3-6, and start the subsequent trajectory lane change obstacle avoidance step 3-processing;

[0152] Step 3-5: The new global trajectory discrete point ordered set GTP_New is equal to the current global trajectory discrete point ordered set GTP.

[0153] That is: GTP_New={(XG_New(K),YG_New(K))|1≤K≤N_GlobalTRajectory}

[0154] And (XG_New(K),YG_New(K))=(XG(K),YG(K)).

[0155] Among them: GTP_New is the ordered set of new global trajectory discrete points; XG_New(K) is the horizontal coordinate of the Kth discrete point in the ordered set of new global trajectory discrete points; YG_New(K) is the vertical coordinate of the Kth discrete point in the ordered set of new global trajectory discrete points.

[0156] Step 3-6: Calculate the first matching point number number_MTP_OB_fristmatchpoint of the obstacle behind the vehicle matching point in the current global reference trajectory based on the first matching point number number_LTP_OB_fristmatchpoint of the obstacle in the ordered set of discrete points of the local reference trajectory and the matching point number number_Vehicle_GlobalTrajectoryMatchPoint of the vehicle center in the current global trajectory.

[0157] Furthermore, the calculation method of the first matching point number number_MTP_OB_fristmatchpoint of the obstacle behind the vehicle matching point in the current global reference trajectory is the number number_Vehicle_GlobalTrajectoryMatchPoint of the matching point of the vehicle center in the current global trajectory plus the first matching point number number_LTP_OB_fristmatchpoint of the obstacle in the ordered set of discrete points of the local reference trajectory. That is: number_MTP_OB_fristmatchpoint = number_Vehicle_GlobalTrajectoryMatchPoint + number_LTP_OB_fristmatchpoint.

[0158] Among them: number_MTP_OB_fristmatchpoint——the first matching point number of the obstacle after the vehicle matching point in the current global reference trajectory.

[0159] Step 3-7: Based on the current global trajectory discrete point ordered set GTP, the first matching point number number_MTP_OB_fristmatchpoint of the obstacle behind the vehicle matching point in the current global reference trajectory, the lane 1 center reference line discrete point ordered set LCP1, and the lane 2 center reference line discrete point ordered set LCP2, obtain the target lane center reference line discrete point ordered set MLCP, and the matching point coordinates (X_MTP_OB_fristmatchpoint_MLCP_matchpoint, Y_MTP_OB_fristmatchpoint_MLCP_matchpoint) of the first matching point behind the vehicle matching point of the obstacle in the current global reference trajectory on the target lane line.

[0160] Among them: LCP1 is an ordered set of discrete points of the center reference line of lane 1; LCP2 is an ordered set of discrete points of the center reference line of lane 2; MLCP is an ordered set of discrete points of the center reference line of the target lane; X_MTP_OB_fristmatchpoint_MLCP_matchpoint is the horizontal coordinate of the first matching point of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory on the target lane line; Y_MTP_OB_fristmatchpoint_MLCP_matchpoint is the vertical coordinate of the first matching point of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory on the target lane line.

[0161] Among them: the ordered set of discrete points of the center reference line of lane 1 is obtained through a high-precision map, and the coordinates of each departure point of the ordered set of discrete points of the center reference line of lane 1 are: LCP1 = {(X_LCP1(v), Y_LCP1(v))|1≤v≤N_LCP1}.

[0162] Where: X_LCP1(v) is the horizontal coordinate of the vth discrete point in the ordered set of discrete points of the center reference line of lane 1; Y_LCP1(v) is the vertical coordinate of the vth discrete point in the ordered set of discrete points of the center reference line of lane 1; N_LCP1 is the total number of discrete point elements in the ordered set of discrete points of the center reference line of lane 1.

[0163] Among them: the ordered set of discrete points of the center reference line of lane 2 is obtained through a high-precision map, and the coordinates of each departure point of the ordered set of discrete points of the center reference line of lane 2 are: LCP2 = {(X_LCP2(w), Y_LCP2(w))|1≤w≤N_LCP2}.

[0164] Where: X_LCP2(w) is the horizontal coordinate of the wth discrete point in the ordered set of discrete points of the center reference line of lane 2; Y_LCP2(w) is the vertical coordinate of the wth discrete point in the ordered set of discrete points of the center reference line of lane 2; N_LCP2 is the total number of discrete point elements in the ordered set of discrete points of the center reference line of lane 2.

[0165] Step 3-8: Calculate the quintic polynomial local obstacle avoidance trajectory direction flag Sign based on the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory and the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory on the target lane line.

[0166] Step 3-9: Based on the obstacle information set, the current global trajectory discrete point ordered set GTP, the number of the matching point of the vehicle center in the current global trajectory number_Vehicle_GlobalTrajectoryMatchPoint, the first matching point number of the obstacle behind the vehicle matching point in the current global reference trajectory number_MTP_OB_fristmatchpoint, and the quintic polynomial local obstacle avoidance trajectory direction flag Sign, the quintic polynomial local obstacle avoidance trajectory equation group is used to obtain the quintic polynomial local obstacle avoidance trajectory discrete point ordered final set QOALP.

[0167] Step 3-10: Generate a new ordered set of global trajectory discrete points based on the current ordered set of global trajectory discrete points, the final ordered set of quintic polynomial local obstacle avoidance trajectory discrete points, and the ordered set of target lane center reference line discrete points. The new ordered set of global trajectory discrete points is divided into three parts, the first part is the discrete points in the current ordered set of global trajectory discrete points whose sequence number is less than the obstacle avoidance trajectory reference starting point sequence number number_Start, the second part is all the discrete points in the final ordered set of quintic polynomial local obstacle avoidance trajectory discrete points, and the third part is all the discrete points in the ordered set of target lane center reference line discrete points whose sequence number is greater than the matching point sequence number number_QOARPLastPoint_MTPmatchpoint of the last discrete point in the ordered set of quintic polynomial obstacle avoidance reference trajectory discrete points in the ordered set of target lane center reference line discrete points. That is:

[0168] GTP_New1={(XG(K),YG(K))|1≤K≤number_Start-1}

[0169] GTP_New2=QOALP={(X_QOAFP(z),X_QOAFP(z))|1≤z≤Number_QOARP}

[0170] GTP_New3={(X_MLCP(q),Y_MLCP(q))|number_QOARPLastPoint_MTPmatchpoin+1≤q≤N_MLCP}

[0171] GTP_New={GTP_New1, GTP_New2, GTP_New2}

[0172] Among them: GTP_New1——the first part of the new global trajectory discrete point ordered set; GTP_New2——the second part of the new global trajectory discrete point ordered set; GTP_New3——the third part of the new global trajectory discrete point ordered set; GTP_New——the new global trajectory discrete point ordered set;

[0173] Step 3-11: The current global trajectory discrete point ordered set GTP is updated to the new global trajectory discrete point ordered set GTP_New.

[0174] Furthermore, the updated current ordered set of global trajectory discrete points GTP is used for lateral and longitudinal control of the vehicle.

[0175] In some examples, S1302 above-mentioned intercepts the discrete points whose arc length of the local trajectory is not less than the set threshold from the vehicle center matching point in the above-mentioned current global trajectory discrete point ordered set as the local reference trajectory discrete point ordered set, including:

[0176] S1302-1, when the arc length of the ordered set of local reference trajectory discrete points is greater than or equal to the local trajectory arc length setting threshold, calculate the geometric distances of adjacent discrete points with element numbers K and K+1 in the current ordered set of global trajectory discrete points, reduce the arc length of the ordered set of local reference trajectory discrete points and increase the geometric distances of the adjacent discrete points, and continue to perform the matching operation;

[0177] S1302-2 until the arc length of the above-mentioned reference trajectory discrete point ordered set is less than the above-mentioned local trajectory arc length setting threshold, in the current global trajectory discrete point ordered set, all discrete points with the matching point of the vehicle center in the current global trajectory as the starting point and the discrete point element serial number of the current global trajectory discrete point ordered set plus the discrete point as the end point constitute the local reference trajectory discrete point ordered set.

[0178] For example, Figure 5 A schematic diagram of a sub-process for obtaining an ordered set of discrete points of a local reference trajectory in a lane change obstacle avoidance trajectory generation main module provided in an embodiment of the present disclosure. The method for obtaining an ordered set of discrete points of a local reference trajectory LTP is as follows:

[0179] Step 3-2-1: Set the initial value of the discrete point element number K of the current global trajectory discrete point ordered set to the matching point number number_Vehicle_GlobalTrajectoryMatchPoint of the vehicle center in the current global trajectory; set the initial value of the arc length S_LocalTrajectory of the local reference trajectory discrete point ordered set to 0; set the initial value of the total number of discrete point elements N_LocalTrajectory in the local reference trajectory discrete point ordered set to 1.

[0180] Where: S_LocalTrajectory——the arc length of the ordered set of discrete points of the local reference trajectory;

[0181] Step 3-2-2: Check whether the discrete point element number K of the current global trajectory discrete point ordered set is less than the total number of discrete point elements N_GlobalTRajectory of the current global trajectory discrete point ordered set. If so, proceed to step 3-2-3; if not, the calculation ends and jumps to step 3-2-7.

[0182] Step 3-2-3: Is the arc length S_LocalTrajectory of the ordered set of discrete points of the local reference trajectory less than or equal to the local trajectory arc length setting threshold Slimit_LocalTRajectory? If so, proceed to step 3-2-4; if not, the calculation ends and jumps to step 3-2-7.

[0183] Where: S_LocalTrajectory——the arc length of the ordered set of discrete points of the local reference trajectory.

[0184] Step 3-2-4: Calculate the geometric distance dkk1_(K) between the adjacent discrete points whose element numbers are K and K+1 in the ordered set of discrete points of the current global trajectory, that is:

[0185] Where: dkk1_(K)——the geometric distance between the adjacent discrete points whose element numbers are K and K+1 in the ordered set of discrete points of the current global trajectory;

[0186] Step 3-2-5: The arc length S_LocalTRajectory of the ordered set of local reference trajectory discrete points is increased by the geometric distance dkk1_(k) of the adjacent discrete points with the sequence numbers K and K+1 of the ordered set of current global trajectory discrete points; the total number of discrete point elements N_LocalTrajectory in the ordered set of local reference trajectory discrete points is increased by 1. That is:

[0187] S_LocalTRajectory=S_LocalTRajectory+dkk1_(k)

[0188] N_LocalTRajectory=N_LocalTRajectory+1

[0189] Step 3-2-6: The discrete point element number K of the current global trajectory discrete point ordered set is incremented by 1. That is: K = K + 1. Then jump to step 3-2-2.

[0190] Step 3-2-7: In the current global trajectory discrete point ordered set GTP, the matching point of the vehicle center in the current global trajectory is used as the starting point, and the discrete point element number of the current global trajectory discrete point ordered set is

[0191] The number_Vehicle_GlobalTrajectoryMatchPoint plus all the discrete points of N_LocalTrajectory as the end point constitute the ordered set of local reference trajectory discrete points LTP. That is: LTP = {(X_LTP(j), X_LTP(j)) | 1≤j≤N_LocalTrajectory}, and (X_LTP(j), X_LTP(j)) = (XG(K), YG(K)),

[0192] K=number_Vehicle_GlobalTrajectoryMatchPoint+j. .

[0193] In some examples, S1306 determines the target lane center reference line set and the coordinates of the matching points of the obstacle on the target lane line according to the position of the obstacle in the current trajectory, the first lane center line reference point set, and the second lane center line reference point set, including:

[0194] S1306-1. Calculate a first distance based on the position in the current trajectory and a first lane centerline reference point set;

[0195] S1306-2, calculating a second distance based on the position in the current trajectory and a set of reference points of the second lane centerline;

[0196] S1306-3, determining a target lane according to the first distance and the second distance;

[0197] S1306-4. Determine the target lane center reference line set and the coordinates of the matching points of the obstacles on the target lane line based on the target lane.

[0198] For example, Figure 6 The present disclosure provides an ordered set of discrete points of the center reference line of the target lane, and a sub-process for obtaining the matching point coordinates of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory on the target lane line; a method for obtaining the matching point coordinates (X_MTP_OB_fristmatchpoint_MLCP_matchpoint, Y_MTP_OB_fristmatchpoint_MLCP_matchpoint) of the ordered set of discrete points of the center reference line of the target lane, and the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory on the target lane line:

[0199] Step 3-6-1: Set the ordered set of lane 1 centerline reference discrete points LCP1 as the ordered set of target matching trajectory discrete points MTP, set the discrete point coordinates corresponding to the first matching point sequence number of the obstacle behind the vehicle matching point in the current global reference trajectory to the matching reference point CP coordinates (XC, YC), call the matching point acquisition module to calculate the matching point coordinates of the first matching point behind the vehicle matching point in the current global reference trajectory in the ordered set of lane 1 centerline reference discrete points (X_MTP_OB_fristmatchpoint_LCP1_matchpoint, Y_MTP_OB_fristmatchpoint

[0200] _LCP1_matchpoint).

[0201] Furthermore, the matching point coordinates of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory in the ordered set of reference discrete points of the center line of lane 1 (X_MTP_OB_fristmatchpoint_LCP1_matchpoint, Y_MTP_OB_fristmatchpoint_LCP1_matchpoint) are equal to setting the ordered set of reference discrete points of the center line of lane 1 LCP1 as the ordered set of discrete points of the target matching trajectory MTP, and the discrete point coordinates corresponding to the serial number of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory (XG(number_MTP_OB_fristmatchpoint), YG(number_MTP_OB_fristmatchpoint)) are set to the matching reference point CP coordinates (XC, YC), and the matching point acquisition module is called to calculate the matching point coordinates of the matching reference point in the ordered set of discrete points of the target matching trajectory (X_CP_MTP_MatchPoint, Y_CP_MTP_MatchPoint).

[0202] Right now:

[0203] MTP=LCP1

[0204] (XC,YC)=(XG(number_MTP_OB_fristmatchpoint),

[0205] YG(number_MTP_OB_fristmatchpoint))

[0206] Run the matching point acquisition module, then:

[0207] (X_MTP_OB_fristmatchpoint_LCP1_matchpoint,Y_MTP_OB_fristmatchpoint

[0208] _LCP1_matchpoint)=(X_CP_MTP_MatchPoint,Y_CP_MTP_MatchPoint)

[0209] Among them: XG (number_MTP_OB_fristmatchpoint) - the discrete point horizontal coordinate corresponding to the first matching point sequence number of the obstacle behind the vehicle matching point in the current global reference trajectory; YG (number_MTP_OB_fristmatchpoint) - the discrete point vertical coordinate corresponding to the first matching point sequence number of the obstacle behind the vehicle matching point in the current global reference trajectory; X_MTP_OB_fristmatchpoint_LCP1_matchpoint - the horizontal coordinate of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory in the ordered set of lane 1 centerline reference discrete points, Y_MTP_OB_fristmatchpoint_LCP1_matchpoint - the vertical coordinate of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory in the ordered set of lane 1 centerline reference discrete points.

[0210] Step 3-6-2: Calculate the geometric distance d1_MTP_OB_fristmatchpoint_LCP1 between the coordinates of the discrete point corresponding to the first matching point sequence number of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory and the coordinates of the matching point of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory in the ordered set of reference discrete points of the center line of lane 1. The calculation formula of d1_MTP_OB_fristmatchpoint_LCP1 is

[0211]

[0212] Wherein: △XG1——the difference between the horizontal coordinate of the discrete point corresponding to the first matching point serial number of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory and the horizontal coordinate of the matching point of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory in the ordered set of reference discrete points of the center line of lane 1; △YG1——the difference between the horizontal coordinate of the discrete point corresponding to the first matching point serial number of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory and the horizontal coordinate of the matching point of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory in the ordered set of reference discrete points of the center line of lane 1; d1_MTP_OB_fristmatchpoint_LCP1——the geometric distance between the coordinates of the discrete point corresponding to the first matching point serial number of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory and the coordinates of the matching point of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory in the ordered set of reference discrete points of the center line of lane 1.

[0213] Step 3-6-3: Set the ordered set of lane 2 centerline reference discrete points LCP2 as the ordered set of target matching trajectory discrete points MTP, set the discrete point coordinates corresponding to the first matching point sequence number of the obstacle behind the vehicle matching point in the current global reference trajectory to the matching reference point CP coordinates (XC, YC), and call the matching point acquisition module to calculate the matching point coordinates of the first matching point behind the vehicle matching point in the current global reference trajectory in the ordered set of lane 2 centerline reference discrete points (X_MTP_OB_fristmatchpoint_LCP2_matchpoint, Y_MTP_OB_fristmatchpoint_LCP2_matchpoint).

[0214] Furthermore, the matching point coordinates of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory in the ordered set of reference discrete points of the center line of lane 2 (X_MTP_OB_fristmatchpoint_LCP2_matchpoint, Y_MTP_OB_fristmatchpoint_LCP2_matchpoint) are equal to setting the ordered set of reference discrete points of the center line of lane 2 LCP2 as the ordered set of discrete points of the target matching trajectory MTP, and the discrete point coordinates corresponding to the serial number of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory (XG(number_MTP_OB_fristmatchpoint), YG(number_MTP_OB_fristmatchpoint)) are set to the matching reference point CP coordinates (XC, YC), and the matching point acquisition module is called to calculate the matching point coordinates of the matching reference point in the ordered set of discrete points of the target matching trajectory (X_CP_MTP_MatchPoint, Y_CP_MTP_MatchPoint).

[0215] Right now:

[0216] MTP=LCP2

[0217] (XC,YC)=(XG(number_MTP_OB_fristmatchpoint),

[0218] YG(number_MTP_OB_fristmatchpoint))

[0219] Run the matching point acquisition module, then:

[0220] (X_MTP_OB_fristmatchpoint_LCP2_matchpoint,Y_MTP_OB_fristmatchpoint

[0221] _LCP2_matchpoint)=(X_CP_MTP_MatchPoint,Y_CP_MTP_MatchPoint)

[0222] Among them: X_MTP_OB_fristmatchpoint_LCP2_matchpoint——the horizontal coordinate of the first matching point of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory in the ordered set of reference discrete points of the center line of lane 2; Y_MTP_OB_fristmatchpoint_LCP2_matchpoint——the vertical coordinate of the first matching point of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory in the ordered set of reference discrete points of the center line of lane 2.

[0223] Step 3-6-4: Calculate the geometric distance d2_MTP_OB_fristmatchpoint_LCP2 between the discrete point coordinates corresponding to the first matching point serial number of the obstacle's rear vehicle matching point in the current global reference trajectory and the matching point coordinates of the first matching point of the obstacle's rear vehicle matching point in the current global reference trajectory in the ordered set of reference discrete points on the center line of lane 2.

[0224] The calculation formula of d2_MTP_OB_fristmatchpoint_LCP2 is:

[0225]

[0226] Wherein: △XG2——the difference between the horizontal coordinate of the discrete point corresponding to the first matching point serial number of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory and the horizontal coordinate of the matching point of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory in the ordered set of reference discrete points of the center line of lane 2; △YG2——the difference between the horizontal coordinate of the discrete point corresponding to the first matching point serial number of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory and the horizontal coordinate of the matching point of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory in the ordered set of reference discrete points of the center line of lane 2; d2_MTP_OB_fristmatchpoint_LCP2——the geometric distance between the coordinates of the discrete point corresponding to the first matching point serial number of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory and the coordinates of the matching point of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory in the ordered set of reference discrete points of the center line of lane 2.

[0227] Step 3-6-5: Determine whether the geometric distance d1_MTP_OB_fristmatchpoint_LCP1 between the coordinates of the discrete point corresponding to the first matching point sequence number of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory and the coordinates of the matching point in the ordered set of reference discrete points of the center line of lane 1 of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory is greater than the geometric distance d2_MTP_OB_fristmatchpoint_LCP2 between the coordinates of the discrete point corresponding to the first matching point sequence number of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory and the coordinates of the matching point in the ordered set of reference discrete points of the center line of lane 2 of the first matching point of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory. If it is greater, execute step 3-6-6; if it is not greater, execute step 3-6-7.

[0228] Step 3-6-6: If the obstacle is closer to the center line of lane 2, the ordered set of discrete points of the target lane center reference line MLCP is equal to the ordered set of discrete points of the lane 1 center reference line LCP1. The coordinates of the first matching point of the obstacle on the target lane line after the vehicle matching point in the current global reference trajectory (X_MTP_OB_fristmatchpoint

[0229] _MLCP_matchpoint,Y_MTP_OB_fristmatchpoint_MLCP_matchpoint) is equal to the first matching point of the obstacle in the rear of the vehicle matching point in the current global reference trajectory in the ordered set of reference discrete points on the center line of lane 1 (X_MTP_OB_fristmatchpoint_LCP1_matchpoint,Y_MTP_OB_fristmatchpoint

[0230] _LCP1_matchpoint).

[0231] Right now:

[0232] MLCP={(X_MLCP(q),Y_MLCP(q))|1≤q≤N_MLCP}

[0233] And (X_MLCP(q),Y_MLCP(q))=(X_LCP1(v),Y_LCP1(v), q=v,N_MLCP=N_LCP1

[0234] (X_MTP_OB_fristmatchpoint_MLCP_matchpoint,Y_

[0235] MTP_OB_fristmatchpoint_MLCP_matchpoint)=(X_MTP_OB_fristmatchpoint

[0236] _LCP1_matchpoint,Y_MTP_OB_fristmatchpoint_LCP1_matchpoint)

[0237] Among them: X_MLCP(q) is the horizontal coordinate of the qth discrete point in the ordered set of discrete points of the target lane center reference line; Y_MLCP(q) is the vertical coordinate of the qth discrete point in the ordered set of discrete points of the target lane center reference line; q is the sequence number of the discrete point in the ordered set of discrete points of the target lane center reference line; N_MLCP is the total number of discrete point elements in the ordered set of discrete points of the target lane center reference line.

[0238] Step 3-6-7: If the obstacle is closer to the center line of lane 1, the ordered set of discrete points of the target lane center reference line MLCP is equal to the ordered set of discrete points of the lane 2 center reference line LCP2. The coordinates of the first matching point of the obstacle on the target lane line after the vehicle matching point in the current global reference trajectory (X_MTP_OB_fristmatchpoint

[0239] _MLCP_matchpoint,Y_MTP_OB_fristmatchpoint_MLCP_matchpoint) is equal to the first matching point of the obstacle at the rear of the vehicle matching point in the current global reference trajectory in the ordered set of reference discrete points on the center line of lane 2 (X_MTP_OB_fristmatchpoint_LCP2_matchpoint,Y_MTP_OB_fristmatchpoint

[0240] _LCP2_matchpoint).

[0241] Right now:

[0242] MLCP={(X_MLCP(q),Y_MLCP(q))|1≤q≤N_MLCP}

[0243] And (X_MLCP(q),Y_MLCP(q))=(X_LCP2(w),Y_LCP2(w)), q=w, N_MLCP=N_LCP2

[0244] (X_MTP_OB_fristmatchpoint_MLCP_matchpoint,Y_

[0245] MTP_OB_fristmatchpoint_MLCP_matchpoint)=(X_MTP_OB_fristmatchpoint

[0246] _LCP2_matchpoint,Y_MTP_OB_fristmatchpoint_LCP2_matchpoint).

[0247] In some examples, S1307 calculates the quintic polynomial local obstacle avoidance trajectory direction flag based on the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory and the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory on the target lane line, including:

[0248] S1307-1, forming a first vector by combining the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory and the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory on the target lane line;

[0249] S1307-2, calculating the unit normal vector of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory based on the sequence number of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory and its two adjacent discrete points;

[0250] S1307-3. Determine the direction flag of the local obstacle avoidance trajectory of the quintic polynomial based on the angle between the unit normal vector and the first vector.

[0251] An exemplary method for obtaining the quintic polynomial local obstacle avoidance trajectory direction flag Sign is:

[0252] Furthermore, the cosine of the angle between the unit normal vector BONE and the vector A is COS<A,BONE> The calculation formula is:

[0253]

[0254] Furthermore, the angle between the unit normal vector BONE and the vector A is not an obtuse angle, which is equivalent to COS<A,BONE> Greater than or equal to 0; the angle between the unit normal vector BONE and vector A is an obtuse angle, which is equivalent to COS<A,BONE> Less than 0;

[0255] In some examples, S1307-2 calculates the unit normal vector of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory based on the first matching point sequence number of the obstacle behind the vehicle matching point in the current global reference trajectory and its two adjacent discrete points, including:

[0256] S1307-2-1, calculating the vector A1 composed of the first two adjacent discrete points in a group of three adjacent discrete points in the current global trajectory ordered set; calculating the vector A2 composed of the last two adjacent discrete points in a group of three adjacent discrete points;

[0257] S1307-2-2, determining whether the vector A1 and the vector A2 are collinear;

[0258] S1307-2-3. In the case of collinearity, the unit normal vector is calculated based on the modulus of the vector A1, the abscissa of the vector A1, and the ordinate of the vector A1;

[0259] S1307-2-4. In the case of non-collinearity, calculate the discrete coordinates corresponding to the first matching point number of the obstacle behind the vehicle matching point in the current global reference trajectory and the center coordinates of the circumscribed circle of the triangle formed by three consecutive discrete points;

[0260] S1307-2-5, forming a vector A3 based on the coordinates of the discrete point corresponding to the first matching point number of the rear end of the vehicle matching point in the current global reference trajectory and the coordinates of the center of the circumscribed circle;

[0261] S1307-2-6. Use the unit vector in the direction of the above vector A3 as the unit normal vector of the first matching point of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory.

[0262] Exemplarily, the calculation method of the unit normal vector BONE with coordinates (XB, YB) is:

[0263] Step 3-7-2-1: Calculate the sequence number of the ordered set of discrete points of the current global trajectory

[0264] Two adjacent discrete points number_MTP_OB_fristmatchpoint-1 and number_MTP_OB_fristmatchpoint form vector A1; two adjacent discrete points numbered number_MTP_OB_fristmatchpoint and number_MTP_OB_fristmatchpoint+1 in the ordered set of discrete points of the current global trajectory form vector A2;

[0265] The calculation formulas for the coordinates of vector A1 (XA1, YA1) and vector A2 (XA2, YA2) are:

[0266] XA1=XG(number_MTP_OB_fristmatchpoint)-XG(number_MTP_OB_fristmatchpoint-1);

[0267] YA1=YG(number_MTP_OB_fristmatchpoint)-YG(number_MTP_OB_fristmatchpoint-1);

[0268] XA2=XG(number_MTP_OB_fristmatchpoint+1)-XG(number_MTP_OB_fristmatchpoint);

[0269] YA2=YG(number_MTP_OB_fristmatchpoint+1)-YG(number_MTP_OB_fristmatchpoint);

[0270] Step 3-7-2-2: Determine whether vector A1 and vector A2 are collinear. If so, execute step 3-7-2-3; if not, jump to step 3-7-2-4.

[0271] Step 3-7-2-3: The coordinates of the unit normal vector BONE are (XB, YB) and the calculation formula is: (XB, YB) = 1 / dA1*(-YA1, XA1)

[0272] Where: dA1——the modulus length of vector A1.

[0273] Step 3-7-2-4: Calculate the discrete coordinates corresponding to the first matching point number_MTP_OB_fristmatchpoint of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory and the center coordinates (XO, YO) of the circumscribed circle of the triangle formed by the three discrete points numbered number_MTP_OB_fristmatchpoint-1 and number_MTP_OB_fristmatchpoint+1 in the ordered set of discrete points of the current global trajectory;

[0274] Furthermore, based on the coordinates of three non-collinear discrete points (XG(number_MTP_OB_fristmatchpoint-1), YG(number_MTP_OB_fristmatchpoint-1), (XG(number_MTP_OB_fristmatchpoint), YG(number_MTP_OB_fristmatchpoint), (XG(number_MTP_OB_fristmatchpoint+1), YG(number_MTP_OB_fristmatchpoint+1), the mathematical circumscribed circle center coordinate calculation formula is used to obtain (XO, YO).

[0275] Step 3-7-2-5: The coordinates of the discrete point corresponding to the first matching point number number_MTP_OB_fristmatchpoint of the rear end of the vehicle matching point in the current global reference trajectory and the coordinates of the center of the circumscribed circle (XO, YO) form vector A3. The coordinates of vector A3 (XA3, Y3) are:

[0276] XA3=XG(number_MTP_OB_fristmatchpoint)-YQ;

[0277] YA3=YG(number_MTP_OB_fristmatchpoint)-YO;

[0278] Step 3-7-2-6: The unit normal vector BONE is the unit vector in the direction of vector A3. That is: (XB, YB) = 1 / dA3*(XA3, Y3)

[0279] Where: dA3 is the modulus length of vector A3, that is

[0280] In some examples, S1308 obtains an ordered final set of discrete points of a local obstacle avoidance trajectory using a quintic polynomial local obstacle avoidance trajectory equation group based on the obstacle information, the vehicle matching point, the first matching point sequence number of the obstacle in the global trajectory, and the trajectory direction flag, including:

[0281] S1308-1. Calculate the front end point and the rear end point of the discrete point corresponding to the first matching point sequence number of the rear end of the obstacle in the global trajectory in the obstacle information according to the preset obstacle avoidance trajectory arc length;

[0282] S1308-2, setting the front end point and the rear end point of the above discrete points as the reference starting point sequence number and the reference end point sequence number of the obstacle avoidance trajectory respectively;

[0283] S1308-3, according to the serial number of the reference starting point and the serial number of the reference end point, intercept from the current global trajectory discrete point set to form an ordered set of quintic polynomial local obstacle avoidance trajectory reference discrete points;

[0284] S1308-4. Calculate characteristic parameters for each discrete point in the ordered set of reference discrete points of the quintic polynomial local obstacle avoidance trajectory, wherein the characteristic parameters include a unit normal vector, a curvature, and an arc length from the discrete point to the first discrete point;

[0285] S1308-5. Obtain the matching point number and minimum distance of the last discrete point in the quintic polynomial local obstacle avoidance reference trajectory set in the target lane reference line;

[0286] S1308-6, using the quintic polynomial local obstacle avoidance trajectory equation group, calculate the quintic polynomial coefficients based on the total arc length in the quintic polynomial local obstacle avoidance trajectory reference set, the distance from the last discrete point to the center line of the target lane, and the trajectory direction flag in the lane change obstacle avoidance trajectory generation method;

[0287] S1308-7, using the polynomial coefficients in the Frent coordinate system, combined with the curvature and arc length of each discrete point, calculate the global coordinates of the quintic polynomial local obstacle avoidance trajectory, and generate a preliminary obstacle avoidance trajectory set;

[0288] S1308-8, performing distance and curvature judgment between the obstacle avoidance trajectory and the obstacle, and updating the reference starting point sequence number and the reference end point sequence number of the obstacle avoidance trajectory based on the judgment result;

[0289] S1308-9. Based on the preliminary set of quintic polynomial obstacle avoidance trajectories, obtain a final ordered set of discrete points of the local obstacle avoidance trajectory.

[0290] Exemplarily, a method for obtaining the ordered final set of discrete points QOALP of the quintic polynomial local obstacle avoidance trajectory is as follows:

[0291] Step 3-8-1: Get the first matching point number number_MTP_OB_fristmatchpoint in the ordered set of discrete points of the current global trajectory, which corresponds to the front end of the discrete point behind the vehicle matching point of the obstacle in the current global reference trajectory and the first matching point number behind the vehicle matching point of the obstacle in the current global reference trajectory

[0292] The arc length of the discrete point corresponding to number_MTP_OB_fristmatchpoint is S_Iintstart, which is recorded as the initial starting point number of the obstacle avoidance trajectory reference number_IintStart; Get the first matching point number in the ordered set of discrete points of the current global trajectory behind the vehicle matching point in the current global reference trajectory.

[0293] The arc length of the discrete point corresponding to number_MTP_OB_fristmatchpoint from the rear end of the discrete point corresponding to the first matching point number_MTP_OB_fristmatchpoint at the rear end of the vehicle matching point in the current global reference trajectory to the obstacle is S_IintEnd, which is recorded as the initial end point number number_IintEnd of the obstacle avoidance trajectory reference.

[0294] Among them: S_Iintstart——the specific value of the arc length from the set obstacle avoidance trajectory reference starting point to the discrete point corresponding to the first matching point number of the obstacle in the current global reference trajectory, which is preferably 1 meter, S_Iintend——the specific value of the arc length from the set obstacle avoidance trajectory reference end point to the discrete point corresponding to the first matching point number of the obstacle in the current global reference trajectory. Specifically, S_Iintend is preferably 10 meters.

[0295] Step 3-8-2: The obstacle avoidance trajectory reference starting point number number_Start is set to the obstacle avoidance trajectory reference initial starting point number number_IintStart; the obstacle avoidance trajectory reference end point number is set to the obstacle avoidance trajectory reference initial end point number number_IintEnd.

[0296] Step 3-8-3: Take the discrete point corresponding to the obstacle avoidance trajectory reference starting point sequence number as the starting point and the discrete point corresponding to the obstacle avoidance trajectory reference end point sequence number as the end point from the current global trajectory discrete point ordered set as the quintic polynomial obstacle avoidance reference trajectory discrete point ordered set. Quintic polynomial obstacle avoidance reference trajectory discrete point ordered set QOARP = {(X_QOARP(z), Y_QOARP(z))|1≤z≤Number_QOARP}.

[0297] Where: QOARP——ordered set of discrete points of quintic polynomial obstacle avoidance reference trajectory; X_QOARP(z)——the horizontal coordinate of the zth discrete point element in the ordered set of discrete points of quintic polynomial obstacle avoidance reference trajectory; Y_QOARP(z)——the vertical coordinate of the zth discrete point element in the ordered set of discrete points of quintic polynomial obstacle avoidance reference trajectory; z——the sequence number of discrete point elements in the ordered set of discrete points of quintic polynomial obstacle avoidance reference trajectory. Number_QOARP——the total number of discrete point elements in the ordered set of discrete points of quintic polynomial obstacle avoidance reference trajectory.

[0298] Furthermore, QOARP={(X_QOAP(z),X_QOAP(z))|1≤z≤Number_QOARP},

[0299] And (X_QOAP(z),X_QOAP(z))=(XG(K),YGP(K)), and z=K-(number_Start-1), number_Start≤K≤number_End}

[0300] Furthermore, Number_QOARP=number_End-(number_Start-1)

[0301] Step 3-8-4: Calculate the characteristic parameters of each discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory. The characteristic parameters include: the unit normal vector of the discrete point (X_UintVector_QOARP(z), Y_UintVector_QOARP(z)), the curvature of the discrete point K_QOARP(z), and the arc length S_QOARP(z) from the discrete point to the first departure point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory.

[0302] Furthermore, if Figure 7 As shown, Figure 7 A schematic diagram of a sub-process for calculating characteristic parameters of each discrete point of a trajectory provided by an embodiment of the present disclosure;

[0303] The calculation method of the characteristic parameters of each discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory is:

[0304] Step 3-8-4-1: The initial value of the discrete point element index z in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory is set to 2; the arc length S_QOARP(z) from the discrete point to the first departure point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory is set to 0.

[0305] Step 3-8-4-2: Calculate the vectors Vector_QOARP1 and Vector_QOARP2 composed of the three discrete points z-1, z, z+1 in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory. The coordinates of vector Vector_QOARP1 are (X_Vector_QOARP1, Y_Vector_QOARP1), and the coordinates of vector Vector_QOARP2 are (X_Vector_QOARP2, Y_Vector_QOARP2).

[0306] Furthermore, it can be known that the calculation formula of (X_Vector_QOARP1, Y_Vector_QOARP1) is:

[0307] X_Vector_QOARP1=X_UintVector_QOARP(z)-X_UintVector_QOARP(z-1)

[0308] Y_Vector_QOARP1=Y_UintVector_QOARP(z)-Y_UintVector_QOARP(z-1)

[0309] Furthermore, it can be known that the calculation formula of (X_Vector_QOARP2, Y_Vector_QOARP2) is:

[0310] X_Vector_QOARP2=X_UintVector_QOARP(z+1)-X_UintVector_QOARP(z)

[0311] Y_Vector_QOARP2=Y_UintVector_QOARP(z+1)-Y_UintVector_QOARP(z)

[0312] Furthermore, it can be known that the modulus length d_Vector_QOARP1 of vector Vector_QOARP1 is:

[0313]

[0314] Furthermore, it can be known that the modulus length d_Vector_QOARP2 of vector Vector_QOARP2 is:

[0315]

[0316] Step 3-8-4-3: Calculate the absolute value of the cosine of the angle between vectors Vector_QOARP1 and Vector_QOARP2

[0317] COS(Vector_QOARP1,Vector_QOARP2)=|

[0318] Among them: COS(Vector_QOARP1, Vector_QOARP2) is the absolute value of the cosine of the angle between vector Vector_QOARP1 and vector Vector_QOARP2.

[0319] Step 3-8-4-4: Whether the three points z-1, z, z+1 in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory are collinear, which is equivalent to COS(Vector_QOARP1, Vector_QOARP2)>0.99. If it is greater than, the three points are collinear, and step 3-8-4-5 is executed. If it is not greater than, the three points are not collinear, and step 3-8-4-8 is executed.

[0320] Step 3-8-4-5: The arc length S_QOARP(z) of the first discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory is increased by d_Vector_QOARP1; the curvature K_QOARP(z) of the discrete point is set to 0; the unit normal vector (X_UintVector_QOARP(z), Y_UintVector_QOARP(z)) of the discrete point is equal to the perpendicular vector of vector Vector_QOARP1 divided by its modulus. That is:

[0321] S_QOARP(z)=S_QOARP(z-1)+d_Vector_QOARP1

[0322] K_QOARP(z)=0;

[0323] (X_UintVector_QOARP(z),Y_UintVector_QOARP(z))=(-Y_Vector_QOARP1,X_Vector_QOARP1) / d_Vector_QOARP1

[0324] Step 3-8-4-6: If the discrete point element number z in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory is equal to 2, then calculate the characteristic parameters of the discrete point whose discrete point element number is 1 in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory, that is:

[0325] K_QOARP(1)=0;

[0326] (X_UintVector_QOARP(1),Y_UintVector_QOARP(1))=(-Y_Vector_QOARP1,X_Vector_QOARP1) / d_Vector_QOARP1.

[0327] Step 3-8-4-7: If the discrete point element number z in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory is equal to Number_QOARP-1, calculate the characteristic parameters of the discrete point whose element number is Number_QOARP in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory, and then jump to step 3-8-4-12

[0328] Furthermore, the characteristic parameters of the discrete points whose element number is Number_QOARP in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory are calculated as follows:

[0329] S_QOARP(Number_QOARP)=S_QOARP(z)+d_Vector_QOARP2

[0330] K_QOARP(Number_QOARP)=0;

[0331] (X_UintVector_QOARP(Number_QOARP),Y_UintVector_QOARP(Number_QOARP))=(-Y_Vector_QOARP1,X_Vector_QOARP1) / d_Vector_QOARP1.

[0332] Step 3-8-4-8: Calculate the coordinates of the three discrete points (X_QOARP(z-1), Y_QOARP(z-1)), (X_QOARP(z), Y_QOARP(z)), (X_QOARP(z), Y_QOARP(z)) to form the coordinates of the center of the circumscribed circle of the triangle (XQ, YQ).

[0333] Furthermore, it can be known that the radius RQ of the circumscribed circle of the triangle is:

[0334]

[0335] Step 3-8-4-9: The arc length S_QOARP(z) of the first discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory is automatically increased by d_Vector_QOARP1; the curvature K_QOARP(z) of the discrete point is set to the reciprocal of the radius RQ of the circumscribed circle of the triangle; the unit normal vector (X_UintVector_QOARP(z), Y_UintVector_QOARP(z)) of the discrete point is equal to (X_QOARP(z)-XQ, Y_QOARP(z)-YQ-) / RQ. That is:

[0336] S_QOARP(z)=S_QOARP(z-1)+d_Vector_QOARP1

[0337] K_QOARP(z)=1 / RQ;

[0338] (X_UintVector_QOARP(z),Y_UintVector_QOARP(z))=(X_QOARP(z)-XQ,Y_QOARP(z)-YQ-) / RQ

[0339] Step 3-8-4-10: If the discrete point element number z in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory is equal to 2, calculate the characteristic parameters of the discrete point whose discrete point element number is 1 in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory.

[0340] K_QOARP(1)=1 / RQ

[0341] (X_UintVector_QOARP(1),Y_UintVector_QOARP(1))=(X_QOARP(1)-XQ,Y_QOARP(1)-YQ) / RQ

[0342] Step 3-8-4-11: If the discrete point element number z in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory is equal to Number_QOARP-1, then calculate the characteristic parameters of the discrete point whose element number in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory is Number_QOARP.

[0343] S_QOARP(Number_QOARP)=S_QOARP(z)+d_Vector_QOARP2

[0344] K_QOARP(Number_QOARP)=1 / RQ;

[0345] (X_UintVector_QOARP(Number_QOARP),Y_UintVector_QOARP(Number_QOARP))=(X_QOARP(Number_QOARP)-XQ,Y_QOARP(Number_QOARP)-YQ) / RQ.

[0346] Step 3-8-4-12: Determine if the discrete point element number z in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory is less than or equal to Number_QOARP-1. If so, increment z by 1 and jump to step 3-8-4-2. If not, the characteristic parameters of each discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory are completed and the calculation is completed.

[0347] Step 3-8-5: Get the matching point number number_QOARPLastPoint_MTPmatchpoint of the last discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory in the ordered set of discrete points of the center reference line of the target lane, and the minimum distance d_QOARPLastPoint_MTPmatchpoint between the last discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory and the ordered set of discrete points of the center reference line of the target lane.

[0348] Furthermore, the coordinates and serial number of the matching point of the last discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory in the ordered set of discrete points of the target lane center reference line, and the minimum distance between the last discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory and the ordered set of discrete points of the target lane center reference line

[0349] The acquisition method of d_QOARPLastPoint_MTPmatchpoint is as follows: set the ordered set of discrete points of the target lane center reference line as the ordered set of discrete points of the target matching trajectory MTP, set the coordinates of the last discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory (X_QOAP(Number_QOARP), X_QOAP(Number_QOARP) as the coordinates of the matching reference point CP (XC, YC), the minimum distance d_QOARPLastPoint_MTPmatchpoint between the last discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory and the ordered set of discrete points of the target lane center reference line is equal to the geometric distance d_CP_MTP_MatchPoint between the matching reference points in the calculation result after running the matching point acquisition module and the matching points in the ordered set of discrete points of the target matching trajectory; the matching point sequence number of the last discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory in the ordered set of discrete points of the target lane center reference line

[0350] number_QOARPLastPoint_MTPmatchpoint is equal to the number of the matching point in the calculation result after running the matching point acquisition module in the ordered set of discrete points of the target matching trajectory number_CP_MTP_MatchPoint

[0351] Step 3-8-6: Calculate the coefficients of the quintic polynomial in the Frent coordinate system based on the minimum distance d_QOARPLastPoint_MTPmatchpoint between the last discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory and the ordered set of discrete points of the target lane center reference line, the quintic polynomial local obstacle avoidance trajectory direction flag Sign, and the total arc length connecting all discrete points in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory.

[0352] Furthermore, the calculation method of the coefficients of the quintic polynomial in the Frent coordinate system is:

[0353] Step 3-8-6-1: Create a system of equations for the quintic polynomial and its first-order derivative and second-order derivative in the Frent coordinate system:

[0354]

[0355] Where: d is the abscissa of the quintic polynomial in the Frent coordinate system; s is the ordinate of the quintic polynomial in the Frent coordinate system; a0 is the coefficient of the zeroth term of the quintic polynomial in the Frent coordinate system; a1 is the coefficient of the first term of the quintic polynomial in the Frent coordinate system; a2 is the coefficient of the second term of the quintic polynomial in the Frent coordinate system; a3 is the coefficient of the third term of the quintic polynomial in the Frent coordinate system; a4 is the coefficient of the fourth term of the quintic polynomial in the Frent coordinate system; a5 is the coefficient of the fifth term of the quintic polynomial in the Frent coordinate system; ——The abscissa of the first derivative of the quintic polynomial in the Frent coordinate system; ——The abscissa of the second derivative of the quintic polynomial in the Frent coordinate system;

[0356] Step 3-8-6-2: Let the starting point of the quintic polynomial in the Frent coordinate system be: S start =0,d start =0, Let the end point of the quintic polynomial in the Frent coordinate system be: S end =

[0357] S_QOARP(Number_QOARP),d end =d_QOARPLastPoint_MTPmatchpoint*Sign, Substitute the starting point and the end point of the quintic polynomial in the Frent coordinate system into the equation set created in step 3-8-4-1 to obtain:

[0358]

[0359] Where: S_QOARP(Number_QOARP) - z in S_QOARP(z) is the value of Number_QOARP, which represents the total arc length connecting all discrete points of the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory.

[0360] Step 3-8-6-3: Convert the equations into a matrix and solve the coefficients of the fifth-order polynomial in the Frent coordinate system. The matrix expression is:

[0361]

[0362] Further, let:

[0363]

[0364] It can be known that: S_matrix*A_matrix=D_matrix.

[0365] Then the matrix operation can obtain A_matrix: A_matrix = S_matrix -1 *D_matrix

[0366] Further information:

[0367]

[0368] Step 3-8-7: Combine the coefficients of the quintic polynomial in the Frent coordinate system, the curvature K_QOARP(z) of each discrete point in the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory, and the arc length S_QOARP(z) from each discrete point to the ordered set of discrete points of the quintic polynomial obstacle avoidance reference trajectory to obtain the global coordinates of the discrete points in the ordered preliminary set of discrete points of the quintic obstacle avoidance trajectory.

[0369] The method for obtaining the global coordinates of discrete points in the ordered preliminary set of discrete points of the five obstacle avoidance trajectories is as follows:

[0370] Step 3-8-7-1: Calculate the horizontal coordinate d_Frent_QOARP(z) of the quintic polynomial in the Frent coordinate system for all discrete points in the ordered preliminary set of discrete points of the quintic obstacle avoidance trajectory.

[0371] d_Frent_QOARP(R)=

[0372] a0+a1*S_QOARP(z)+a2*S_QOARP(z) 2 +a3*S_QOARP(z)s 3 +a4*S_QOARP(z) 4 +

[0373] a5*S_QOARP(z) 5

[0374] Where: d_Frent_QOARP(z) is the abscissa d_Frent_QOARP(z) of the quintic polynomial in the Frent coordinate system of all discrete points in the ordered preliminary set of discrete points of the quintic obstacle avoidance trajectory.

[0375] Step 3-8-7-2: Calculate the global coordinates (X_QOAFP(z), X_QOAFP(z)) of the discrete points in the ordered preliminary set of discrete points of the quintic obstacle avoidance trajectory based on the horizontal coordinates d_Frent_QOARP(z) of the quintic polynomial in the Frent coordinate system of all discrete points in the ordered preliminary set of discrete points of the quintic obstacle avoidance trajectory and the unit normal vectors (X_UintVector_QOARP(z), Y_X_UintVector_QOARP(z)) of each discrete point in the ordered preliminary set of discrete points of the quintic obstacle avoidance reference trajectory. The calculation formula for the global coordinates (X_QOAFP(z), X_QOAFP(z)) of the discrete points in the ordered preliminary set of discrete points of the quintic obstacle avoidance trajectory is:

[0376] (X_QOAFP(z),X_QOAFP(z))=(X_QOAP(z),X_QOAP(z)+d_Frent_QOARP(z)*

[0377] (X_UintVector_QOARP(z),Y_X_UintVector_QOARP(z))

[0378] Where: X_QOAFP(z)——the horizontal coordinate of the zth discrete point in the ordered preliminary set of discrete points of the five obstacle avoidance trajectories; Y_QOAFP(z)——the vertical coordinate of the zth discrete point in the ordered preliminary set of discrete points of the five obstacle avoidance trajectories;

[0379] That is, the ordered preliminary set of discrete points of the five obstacle avoidance trajectories QOAFP = {(X_QOAFP(z), X_QOAFP(z))|1≤z≤Number_QOARP}

[0380] Step 3-8-8: Determine whether the distance between the ordered preliminary set of five obstacle avoidance trajectory discrete points QOAFP and the obstacle meets the vehicle passing requirements. If not, execute step 3-8-10. If it meets the vehicle passing requirements, execute step 3-8-9.

[0381] Furthermore, the method for determining whether the distance between the ordered preliminary set of five obstacle avoidance trajectory discrete points QOAFP and the obstacle meets the vehicle passing requirements is as follows:

[0382] Step 3-8-8-1: Set the ordered preliminary set of discrete points of the five obstacle avoidance trajectories QOAFP as the ordered set of discrete points of the determination trajectory DTP, set the obstacle information set around the vehicle as the obstacle information set, and the availability flag QOAFP_Flag of the ordered preliminary set of discrete points of the five obstacle avoidance trajectories is equal to the available flag DTP_Flag of the ordered set of discrete points of the determination trajectory in the calculation result of calling the trajectory availability determination module based on the distance to the obstacle.

[0383] Step 3-8-8-2: If the usability flag QOAFP_Flag of the ordered preliminary set of discrete points of the five obstacle avoidance trajectories is equal to 1, the distance between the ordered preliminary set of discrete points of the five obstacle avoidance trajectories QOAFP and the obstacle meets the vehicle passing requirements, and step 3-8-9 is executed; if the usability flag QOAFP_Flag of the ordered preliminary set of discrete points of the five obstacle avoidance trajectories is equal to 0, the distance between the ordered preliminary set of discrete points of the five obstacle avoidance trajectories QOAFP and the obstacle does not meet the vehicle passing requirements, and jump to step 3-8-10.

[0384] Step 3-8-9: Determine whether the curvature of each discrete point in the ordered preliminary set QOAFP of discrete points of the five obstacle avoidance trajectories meets the maximum curvature constraint requirement of the vehicle. If it does, jump to step 3-8-11, if not, execute step 3-8-10.

[0385] Furthermore, the calculation of the curvature of each discrete point in the ordered preliminary set QOAFP of discrete points of the five-time obstacle avoidance trajectory can refer to the method in step 3-8-6.

[0386] Step 3-8-10: Reset the obstacle avoidance trajectory reference starting point number number_Start and obstacle avoidance trajectory reference end point number number_End. Jump to step 3-8-3.

[0387] Furthermore, the method of resetting the obstacle avoidance trajectory reference starting point number number_Start and obstacle avoidance trajectory reference end point number number_End is as follows:

[0388] Step 3-8-10-1: The obstacle avoidance trajectory reference new end number number_NewEnd is equal to the larger value of the difference between the obstacle avoidance trajectory reference end number number_End minus 1 and the first matching point number number_MTP_OB_fristmatchpoint of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory.

[0389] Step 3-8-10-2: Determine whether the obstacle avoidance trajectory reference new end number number_NewEnd is equal to the first matching point number number_MTP_OB_fristmatchpoint of the obstacle in the current global reference trajectory. If so, the obstacle avoidance trajectory reference new end number number_NewEnd is equal to the obstacle avoidance trajectory reference initial end number number_IintEnd, and the obstacle avoidance trajectory reference new starting point number number_NewStart is equal to the difference between the obstacle avoidance trajectory reference starting point number number_Start and 1 and the matching point number of the vehicle center in the current global trajectory.

[0390] The larger value of number_Vehicle_GlobalTrajectoryMatchPoint.

[0391] Step 3-8-10-3: If the obstacle avoidance trajectory reference new starting point number_NewStart is equal to the number of the vehicle center in the current global trajectory matching point number_Vehicle_GlobalTrajectoryMatchPoint, the current obstacle has blocked the road surface and it is impossible to generate five obstacle avoidance trajectories that meet the vehicle motion constraints. If the obstacle avoidance trajectory reference new starting point number_NewStart is not equal to the number of the vehicle center in the current global trajectory matching point number

[0392] number_Vehicle_GlobalTrajectoryMatchPoint, then update the obstacle avoidance trajectory reference starting point number number_Start, obstacle avoidance trajectory reference end point number number_End to be equal to the obstacle avoidance trajectory reference new starting point number number_NewStart, obstacle avoidance trajectory reference new end point number number_NewEnd, and jump to step 3-8-3 and loop again.

[0393] Step 3-8-11: Obtain the final ordered set of discrete points of the five obstacle avoidance trajectories based on the preliminary ordered set of discrete points of the five obstacle avoidance trajectories. The final ordered set of discrete points of the five obstacle avoidance trajectories QOALP is {(X_QOAFP(z),X_QOAFP(z))|1≤z≤Number_QOARP}

[0394] See also Figure 8 , a structural schematic diagram of a lane change obstacle avoidance trajectory generating device 200 provided in an embodiment of the present disclosure may include:

[0395] A calculation unit 201 is used to calculate the geometric distance between the matching reference point and each point in the ordered set of discrete points of the target matching trajectory through a matching point acquisition module to obtain the matching reference point information of the vehicle on the global trajectory, wherein the matching reference point information includes the matching point coordinates, the matching point sequence number and the matching point geometric distance;

[0396] An acquisition unit 202 is configured to determine whether a local trajectory meets the requirement for vehicle passing by using a trajectory availability determination module based on the distance to obstacles according to an ordered set of discrete points of the determination trajectory, an obstacle information set, a vehicle width, and a redundancy, so as to obtain a trajectory availability result, wherein the trajectory availability result includes a trajectory availability flag and a first matching point number of the obstacle in the ordered set of discrete points of the determination trajectory;

[0397] The generation unit 203 is used to call the matching reference point information obtained by the matching point through the lane change obstacle avoidance trajectory generation main module and the trajectory availability result of the trajectory availability determination module based on the distance from the obstacle, generate a quintic polynomial local obstacle avoidance trajectory and merge it with the global trajectory, generate an updated ordered set of discrete points of the current global trajectory, and control the lateral and longitudinal directions of the vehicle based on the updated ordered set of discrete points of the current global trajectory.

[0398] like Fig. 9 As shown, an embodiment of the present disclosure further provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor, and when the processor 320 executes the computer program 311, the steps of any of the above-mentioned methods for generating lane change and obstacle avoidance trajectories are implemented.

[0399] Due to the specific implementation mode of the electronic device introduced in this embodiment and its various variations, how the electronic device implements the method in the embodiment of the present application will not be described in detail here. As long as the equipment used by technical personnel in this field to implement the method in the embodiment of the present application is within the scope of protection of this application.

[0400] During the specific implementation process, when the computer program 311 is executed by a processor, any implementation method in the embodiments corresponding to the first aspect can be implemented.

[0401] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0402] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0403] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0404] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0405] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0406] The embodiment of the present disclosure also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes the process of the intelligent drinking water service method.

[0407] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integration. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0408] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0409] In the several embodiments provided in the present disclosure, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0410] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0411] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0412] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present disclosure. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0413] In the present disclosure, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise expressly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0414] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0415] The above are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A lane-changing obstacle avoidance trajectory generation method, characterized in that: include: The geometric distance between the matching reference point and each point in the ordered set of discrete points of the target matching trajectory is calculated by the matching point acquisition module to obtain the matching reference point information of the vehicle on the global trajectory, wherein the matching reference point information includes the matching point coordinates, the matching point sequence number and the matching point geometric distance; By using a trajectory availability determination module based on the distance to the obstacle, determining whether the local trajectory meets the requirement for vehicle passing according to the ordered set of discrete points of the determination trajectory, the set of obstacle information, the vehicle width and the redundancy, a trajectory availability result is obtained, wherein the trajectory availability result includes a trajectory availability flag and the first matching point number of the obstacle in the ordered set of discrete points of the determination trajectory; The lane change obstacle avoidance trajectory generation main module calls the matching reference point information obtained by the matching point and the trajectory availability result of the trajectory availability determination module at the distance from the obstacle, generates a quintic polynomial local obstacle avoidance trajectory and merges it with the global trajectory, generates an updated ordered set of discrete points of the current global trajectory, and controls the lateral and longitudinal directions of the vehicle based on the updated ordered set of discrete points of the current global trajectory.

2. The method for generating a lane-changing obstacle avoidance trajectory according to claim 1, characterized in that: The matching point acquisition module calculates the geometric distance between the matching reference point and each point in the ordered set of discrete points of the target matching trajectory to obtain the matching reference point information of the vehicle on the global trajectory, including: Obtaining an ordered set of matching reference points and target matching trajectory discrete points; Initialize the initial conditions for matching point search; Calculate the geometric distance between the matching reference point and each discrete point in the ordered set of discrete points of the target matching trajectory; Comparing the geometric distance with the recorded matching point distance; When the geometric distance is smaller than the recorded matching point distance, updating the matching reference point information; When the geometric distance is greater than or equal to the recorded matching point distance, the next matching reference is compared continuously until all matching reference points are compared to obtain matching reference point information of the vehicle on the global trajectory.

3. The lane change obstacle avoidance trajectory generation method according to claim 1, characterized in that: The method of determining whether the local trajectory meets the requirement for vehicle passing by determining an ordered set of trajectory discrete points, a set of obstacle information, a vehicle width and a redundancy through a trajectory availability determination module based on the distance to the obstacle, so as to obtain a trajectory availability result includes: Acquire the ordered set of discrete points of the determined trajectory and the determined obstacle information set; Calculating the geometric distances between the ordered set of discrete points of the determination trajectory and the discrete points of corresponding elements in the determination obstacle information set and the current obstacle; Based on the geometric distance between the discrete point and the current obstacle, the obstacle radius, the vehicle width and the redundancy, it is determined whether the local trajectory meets the requirement for vehicle passing, so as to obtain the trajectory availability result.

4. The method for generating a lane-changing obstacle avoidance trajectory according to claim 1, characterized in that: The lane change obstacle avoidance trajectory generation main module calls the matching reference point information obtained by the matching point and the trajectory availability result of the trajectory availability determination module based on the distance from the obstacle, generates a quintic polynomial local obstacle avoidance trajectory and merges it with the global trajectory, generates an updated ordered set of current global trajectory discrete points, and controls the lateral and longitudinal directions of the vehicle based on the updated ordered set of current global trajectory discrete points, including: The vehicle center coordinates are set based on the matching reference point information in the matching reference point acquisition module, the current global trajectory discrete point ordered set is set as the target matching trajectory discrete point ordered set in the matching point acquisition module, and the matching point coordinates and matching point sequence number of the vehicle center in the current global trajectory are obtained; In the current global trajectory discrete point ordered set, starting from the vehicle center matching point, intercepting the discrete points whose local trajectory arc length is not less than a set threshold as the local reference trajectory discrete point ordered set; The local reference trajectory discrete point ordered set is set as the determination trajectory discrete point ordered set, the obstacle information set around the vehicle is set as the determination obstacle information set, and a trajectory availability determination module based on the distance to the obstacle is called to obtain the trajectory availability flag of the local reference trajectory discrete point ordered set and the first matching point number of the obstacle in the determination trajectory discrete point ordered set; Determine whether the local reference trajectory is available, and if the local reference trajectory is available, directly use the ordered set of discrete points of the current global trajectory as the new global trajectory; When the local reference trajectory is unavailable, the first matching point number of the rear end of the obstacle in the global trajectory is calculated based on the first matching point number of the obstacle and the center matching point number of the vehicle; Determine the coordinates of the matching points of the target lane center reference line set and the obstacle on the target lane line according to the position of the obstacle in the current trajectory, the first lane center line reference point set and the second lane center line reference point set; Calculate the quintic polynomial local obstacle avoidance trajectory direction flag based on the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory and the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory on the target lane line; Based on the obstacle information, the vehicle matching point, the first matching point sequence number of the obstacle in the global trajectory, and the trajectory direction flag, a quintic polynomial local obstacle avoidance trajectory equation group is used to obtain an ordered final set of discrete points of the local obstacle avoidance trajectory; Generate the current global trajectory discrete point ordered set based on the current global trajectory discrete point ordered set, the fifth-order polynomial local obstacle avoidance trajectory discrete point ordered final set, and the target lane center reference line discrete point ordered set, wherein the current global trajectory discrete point ordered set includes the discrete points in the current global trajectory whose sequence numbers are less than the starting point of the obstacle avoidance trajectory, the fifth-order polynomial local obstacle avoidance trajectory discrete point set, and all discrete points in the target lane center reference line whose sequence numbers are greater than the matching points of the end point of the obstacle avoidance trajectory; The ordered set of discrete points of the current global trajectory is updated to a new trajectory, and used for lateral and longitudinal control of the vehicle.

5. The method for generating a lane-changing obstacle avoidance trajectory according to claim 4, characterized in that: In the current global trajectory discrete point ordered set, starting from the vehicle center matching point, the discrete points whose arc length of the local trajectory is not less than the set threshold are intercepted as the local reference trajectory discrete point ordered set, including: When the arc length of the ordered set of local reference trajectory discrete points is greater than or equal to the local trajectory arc length setting threshold, the geometric distances of adjacent discrete points with element numbers K and K+1 in the current ordered set of global trajectory discrete points are calculated, and the arc length of the ordered set of local reference trajectory discrete points is reduced to increase the geometric distance of the adjacent discrete points, and the matching operation is continued; Until the arc length of the ordered set of discrete points of the reference trajectory is less than the set threshold of the arc length of the local trajectory, all discrete points in the current ordered set of discrete points of the global trajectory with the matching point of the center of the vehicle in the current global trajectory as the starting point and the discrete point with the discrete point element serial number of the current ordered set of discrete points of the global trajectory plus the discrete point as the end point constitute the ordered set of discrete points of the local reference trajectory.

6. The method for generating a lane-changing obstacle avoidance trajectory according to claim 4, characterized in that: The method of determining the target lane center reference line set and the coordinates of the matching points of the obstacle on the target lane line according to the position of the obstacle in the current trajectory, the first lane center line reference point set and the second lane center line reference point set includes: Calculate a first distance based on the position in the current trajectory and a first lane centerline reference point set; Calculate a second distance based on the position in the current trajectory and a second lane centerline reference point set; determining a target lane according to the first distance and the second distance; A target lane center reference line set and coordinates of matching points of obstacles on the target lane line are determined based on the target lane.

7. The method for generating a lane-changing obstacle avoidance trajectory according to claim 4, characterized in that: The method of calculating the quintic polynomial local obstacle avoidance trajectory direction flag based on the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory and the coordinates of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory on the target lane line includes: The coordinates of the first matching point of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory and the coordinates of the first matching point of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory on the target lane line form a first vector; Calculate the unit normal vector of the first matching point of the obstacle behind the vehicle matching point in the current global reference trajectory based on the first matching point sequence number of the obstacle behind the vehicle matching point in the current global reference trajectory and its two adjacent discrete points; Based on the angle between the unit normal vector and the first vector, the direction flag of the quintic polynomial local obstacle avoidance trajectory is determined.

8. The method for generating a lane-changing obstacle avoidance trajectory according to claim 7, characterized in that: The calculating the unit normal vector of the first matching point of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory based on the first matching point sequence number of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory and its two adjacent discrete points includes: Calculate the vector A1 composed of the first two adjacent discrete points of three adjacent discrete points in the ordered set of discrete points of the current global trajectory; calculate the vector A2 composed of the last two adjacent discrete points of three adjacent discrete points in a group; Determine whether the vector A1 and the vector A2 are collinear; In the case of collinearity, the unit normal vector is calculated based on the modulus of the vector A1, the abscissa of the vector A1 and the ordinate of the vector A1; In the case of non-collinearity, the discrete coordinates corresponding to the first matching point sequence number of the obstacle behind the vehicle matching point in the current global reference trajectory and the center coordinates of the circumscribed circle of the triangle formed by three consecutive discrete points are calculated; A vector A3 is formed based on the coordinates of the discrete point corresponding to the first matching point number of the rear end of the vehicle matching point of the obstacle in the current global reference trajectory and the coordinates of the center of the circumscribed circle; The unit vector in the direction of the vector A3 is used as the unit normal vector of the first matching point of the obstacle at the rear end of the vehicle matching point in the current global reference trajectory.

9. The method for generating a lane-changing obstacle avoidance trajectory according to claim 4, characterized in that: The method of obtaining an ordered final set of discrete points of a local obstacle avoidance trajectory using a quintic polynomial local obstacle avoidance trajectory equation group based on the obstacle information, the vehicle matching point, the first matching point sequence number of the obstacle in the global trajectory, and the trajectory direction flag bit comprises: According to the preset obstacle avoidance trajectory arc length, calculate the front end point and rear end point of the discrete point corresponding to the first matching point sequence number of the rear end of the obstacle in the global trajectory in the obstacle information; The front end point and the rear end point of the discrete point are respectively set as the reference starting point sequence number and the reference end point sequence number of the obstacle avoidance trajectory; According to the reference starting point sequence number and the reference end point sequence number, an ordered set of reference discrete points of a quintic polynomial local obstacle avoidance trajectory is formed by intercepting from the current global trajectory discrete point set; Calculating characteristic parameters for each discrete point in the ordered set of reference discrete points of the quintic polynomial local obstacle avoidance trajectory, wherein the characteristic parameters include a unit normal vector, a curvature, and an arc length from the discrete point to the first discrete point; Obtaining the matching point sequence number and minimum distance of the last discrete point in the quintic polynomial local obstacle avoidance reference trajectory set in the target lane reference line; Based on the total arc length in the quintic polynomial local obstacle avoidance trajectory reference set, the distance from the last discrete point to the center line of the target lane, and the trajectory direction flag in the lane change obstacle avoidance trajectory generation method, the quintic polynomial local obstacle avoidance trajectory equation group is used to calculate the quintic polynomial coefficients; Using the polynomial coefficients in the Frent coordinate system, combined with the curvature and arc length of each discrete point, the global coordinates of the quintic polynomial local obstacle avoidance trajectory are calculated to generate a preliminary obstacle avoidance trajectory set; Perform distance and curvature judgment between the obstacle avoidance trajectory and the obstacle, and update the reference starting point sequence number and reference end point sequence number of the obstacle avoidance trajectory based on the judgment results; Based on the preliminary set of quintic polynomial obstacle avoidance trajectories, an ordered final set of discrete points of local obstacle avoidance trajectories is obtained.

10. A lane-changing obstacle avoidance trajectory generation device, characterized in that: include: A calculation unit, used for calculating the geometric distance between the matching reference point and each point in the ordered set of discrete points of the target matching trajectory through a matching point acquisition module, so as to obtain the matching reference point information of the vehicle on the global trajectory, wherein the matching reference point information includes the matching point coordinates, the matching point sequence number and the matching point geometric distance; an acquisition unit, configured to determine whether a local trajectory meets the requirement for vehicle passing by using a trajectory availability determination module based on the distance to an obstacle according to an ordered set of trajectory discrete points, an obstacle information set, a vehicle width, and a redundancy, so as to obtain a trajectory availability result, wherein the trajectory availability result includes a trajectory availability flag and a first matching point number of the obstacle in the ordered set of trajectory discrete points; A generation unit is used to call the matching reference point information obtained by the matching point through the lane change obstacle avoidance trajectory generation main module and the trajectory availability result of the trajectory availability determination module at the distance from the obstacle, generate a quintic polynomial local obstacle avoidance trajectory and merge it with the global trajectory, generate an updated ordered set of discrete points of the current global trajectory, and control the lateral and longitudinal directions of the vehicle based on the updated ordered set of discrete points of the current global trajectory.

11. An electronic device, comprising: A memory and a processor, wherein the processor is used to implement the steps of the lane change obstacle avoidance trajectory generation method as described in any one of claims 1 to 8 when executing the computer program stored in the memory.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the lane change obstacle avoidance trajectory generation method as described in any one of claims 1-8 are implemented.

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