System and method for planning a trajectory for a self-driving vehicle

Abstract

A system and a method for planning a trajectory for a self-driving vehicle are disclosed. The method is suitable for a vehicle, is implemented by a vehicle-mounted computer, and comprises the following steps: (A) generating multiple target planned trajectory results according to the current position, the current course angle, the current speed, the current acceleration, multiple path end points, the current road width and the current road curvature of a vehicle, wherein each target planned trajectory result comprises a trajectory path and a speed change curve; (B) estimating a plurality of estimated movement ranges and a plurality of estimated movement speeds of each obstacle in a predetermined distance range from the vehicle at a plurality of unit time points in a driving period; and (C)determining an optimal planned trajectory result from the target planned trajectory results according to the target planned trajectory result and the estimated moving range and the estimated moving speed of each obstacle.

Description

technical field [0001] The invention relates to a trajectory planning method, in particular to a driving trajectory planning system and method for an automatic driving vehicle. Background technique [0002] In recent years, the development of self-driving cars has been booming, and many car manufacturers have invested a lot of resources. Governments of various countries are also preparing for the advent of the self-driving era. For example, in Europe, Belgium, France, Italy and the United Kingdom plan to use driverless cars to operate traffic transportation systems; and countries such as Germany, the Netherlands and Spain have allowed experimental self-driving cars. [0003] Self-driving cars use active and passive sensors (such as Lidar and Radar) to continuously sense a wide range and have a 360-degree field of view. During driving, the self-driving car needs to use the dynamic reference information of the body and the environment as the system input to plan the vehicle's...

AI Technical Summary

Problems solved by technology

[0004] However, when the existing self-driving car plans the driving trajectory, it only considers the position of the current obstacle to plan the driving trajectory. However, if the obstacle is not a stationary object, such as a pedestrian, a moving car, etc., the planned driving trajectory There are serious problems with its accuracy and security.

Images