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Vehicle trajectory planning method, control method and related device

A vehicle trajectory and trajectory technology, applied in the field of automatic driving, can solve problems such as inaccurate road models, affecting the safe operation of self-driving cars, and inaccurate maps

Active Publication Date: 2020-12-15
苏州交驰人工智能研究院有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The geometric structure of the road may change, which makes the map obtained by the self-driving car from the network or stored locally may not be accurate enough, resulting in inaccurate road models generated based on the map, and ultimately affecting the safe operation of the self-driving car

Method used

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  • Vehicle trajectory planning method, control method and related device
  • Vehicle trajectory planning method, control method and related device
  • Vehicle trajectory planning method, control method and related device

Examples

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Embodiment Construction

[0047] The present invention is further detailed below with reference to the accompanying drawings and examples. It will be appreciated that the specific embodiments described herein are merely illustrative of the invention and are not limited thereto.

[0048] It will also be noted that in order to facilitate the description, only the parts related to the present invention are shown in the drawings rather than all content. It should be mentioned before discussing exemplary embodiments in more detail, some exemplary embodiments are described as a process or method as a flowchart depiction. While the flowchart describes the operation (or step), many of these operations may be implemented in parallel, concurrently or simultaneously. In addition, the order in which each operation can be rearranged. The processing can be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process can correspond to methods, functions, procedu...

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PUM

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Abstract

The embodiment of the invention discloses a vehicle trajectory planning method, a control method and a related device which can improve the safety of autonomous mode operation of a vehicle. The planning method comprises the steps that at least one other vehicle on a road where a current vehicle runs is tracked to obtain a track of the at least one other vehicle, and the track comprises the positions where the at least one other vehicle passes; a first track is determined by synthesizing the track of the at least one other vehicle; and a processor is used for carrying out deviation processing on the positions of the first track in the width direction of the road to obtain a second track, and the farthest end, away from a lane where the current vehicle is located, of the second track is located in a farthest end lane, facing the lane changing direction of the first track, of the road.

Description

Technical field [0001] Embodiment of the invention relates to the autopilot, and more particularly relates to a vehicle path planning method, control method and related apparatus. Background technique [0002] Autonomous vehicle in the autonomous mode that requires less human even without input from the driver or operator to automatically navigate through a particular path. The so-called through a particular path comprises all paths before reaching the destination, including through or only during a certain segment. [0003] Autonomous vehicle generally comprises various sensors, to sense the vehicle surroundings, and the results of decision algorithm, based on the sensed, the vehicle control adjustment state. [0004] When the road performing maintenance work, corresponding lane may be closed or moved. The geometry of the road is likely to change, which makes the safe operation of autonomous vehicles acquired from the network or stored on the local map may not be accurate, and c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W60/00
CPCB60W60/001B60W60/0016B60W2554/404
Inventor 闫文龙周佳佳
Owner 苏州交驰人工智能研究院有限公司
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