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

A driving track and automatic driving technology, which is applied to the traffic control system of road vehicles, motor vehicles, and vehicle components, can solve the problems of driving track accuracy and safety.

Pending Publication Date: 2020-06-09
AUTOMOTIVE RES & TESTING CENT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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,

Method used

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

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Embodiment Construction

[0055] refer to figure 1 , illustrating an embodiment of the trajectory planning system for an automatic driving vehicle of the present invention, the trajectory planning system 1 for an automatic driving vehicle is set in a vehicle (not shown), and the trajectory planning system 1 for an automatic driving vehicle includes a vehicle Sensing device 11 , an obstacle sensing device 12 , a road condition sensing device 13 , a trajectory end calculation device 14 , and a vehicle computer 15 . The vehicle computer 15 is electrically connected to the vehicle sensing device 11 , the track end calculation device 14 , the obstacle sensing device 12 , and the road condition sensing device 13 .

[0056] The vehicle sensing device 11 is used for locating a current position of the vehicle, and for sensing a current heading angle of the vehicle, a current speed of the vehicle, and a current acceleration of the vehicle.

[0057] The obstacle sensing device 12 is used to sense at least one ob...

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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...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0255G05D1/0257G05D1/0223G05D1/0214G05D1/0278G05D1/0276G05D2201/02G05D2201/0213G05D1/0251B60W30/09B60W60/0015B60W2520/10B60W2520/105B60W2552/05B60W2552/30B60W2554/4041B60W2554/4042B60W60/00272B60W60/00276B60W30/0956B60W30/0953G08G1/165G06V20/58G05D1/0088G08G1/161G08G1/166
Inventor 林伯翰许琮明张志豪郭宜钧
Owner AUTOMOTIVE RES & TESTING CENT
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