Automatic driving space-time joint trajectory planning method and system and medium

Abstract

The invention discloses an automatic driving space-time joint trajectory planning method and system and a medium. The method comprises the following steps: establishing a dynamic safety margin fusing a geometric safety margin, a probability safety margin and a behavior safety margin; dividing a drivable region into a plurality of convex space subsets according to lane lines and vehicle distances, solving a target convex space sequence through integer linear programming according to a predicted trajectory of the obstacle vehicle and vehicle state information, and generating a space-time safety corridor, so that a non-convex feasible region is converted into a convex driving corridor; generating longitudinal and transverse reference track points of the vehicle according to the IDM model and the extension form thereof; and constructing a nonlinear optimization equation, and solving to obtain a space-time joint optimal trajectory. According to the method, through the closed-loop design of safety margin modeling-convex space conversion-reference point generation-optimization solution, comprehensive improvement of the automatic driving track in safety, global optimality, dynamic adaptability and comfort is realized, and the method is suitable for high-precision track planning requirements in a complex dynamic traffic scene.

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