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    Automatic driving track planning method and system based on space-time corridor

    Automatic driving track planning method and system based on space-time corridor

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    The invention relates to an automatic driving trajectory planning method and system based on a space-time corridor. The method comprises the following steps: acquiring pose information of a vehicle and obstacles around the vehicle in real time; determining a driving reference line of the self-vehicle according to the pose information of the self-vehicle and constructing a three-dimensional configuration space; marking an obstacle in the three-dimensional configuration space and intercepting an s-l plane at each target time point to obtain a two-dimensional convex subspace; constructing a three-dimensional convex subspace for all the two-dimensional convex subspaces at every two adjacent target time points; determining a space-time corridor of trajectory planning according to the rough trajectory of the vehicle in the planning time domain and all the three-dimensional convex subspaces; and optimizing a longitudinal track and a transverse track according to the space-time corridor and the rough track, and determining an automatic driving track according to the optimized longitudinal track and the optimized transverse track. According to the method, the optimal planning track can be obtained, no obstacle exists in the optimal planning track, and the accuracy of automatic driving track planning is improved.

    本发明涉及一种基于时空走廊的自动驾驶轨迹规划方法及系统，包括：实时获取自车的位姿信息和自车周围的障碍物；根据所述自车的位姿信息确定所述自车行驶的参考线并构建三维配置空间；在三维配置空间中标识障碍物并在每一目标时间点处截取s‑l平面，得到二维凸子空间；对每相邻两个目标时间点处的所有二维凸子空间构建三维凸子空间；根据自车在所述规划时域内的粗略轨迹和所有三维凸子空间确定轨迹规划的时空走廊；根据时空走廊和所述粗略轨迹进行纵向轨迹的优化和横向轨迹的优化，并根据优化后的纵向轨迹和优化后的横向轨迹确定自动驾驶轨迹。本发明能够得到最优规划轨迹且最优规划轨迹中不存在障碍物，提高了自动驾驶轨迹规划的准确性。

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    Titel :

    Automatic driving track planning method and system based on space-time corridor

    Weitere Titelangaben:

    一种基于时空走廊的自动驾驶轨迹规划方法及系统

    Beteiligte:
    LUO JUN (Autor:in) / YUAN MENGJIA (Autor:in) / PU HUAYAN (Autor:in) / MA JIE (Autor:in) / HUANG JING (Autor:in) / CHEN YONGBING (Autor:in) / LIU HONGLIANG (Autor:in) / SHEN ANMING (Autor:in) / SUN HAONAN (Autor:in)
    Erscheinungsdatum :

    2022-12-02

    Medientyp :

    Patent

    Format :

    Elektronische Ressource

    Sprache :

    Chinesisch

    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion

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