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A vehicle trajectory planning method, control method and related device

A vehicle trajectory and trajectory technology, applied in the field of autonomous driving, can solve the problems of inaccurate maps, affecting the safe operation of autonomous vehicles, and inaccurate road models.

Active Publication Date: 2021-11-09
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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  • A vehicle trajectory planning method, control method and related device
  • A vehicle trajectory planning method, control method and related device
  • A vehicle trajectory planning method, control method and related device

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Embodiment Construction

[0047] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

[0048] In addition, it should be noted that, for the convenience of description, only parts related to the present invention are shown in the drawings but not all content. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe various operations (or steps) as sequential processing, many of the operations may be performed in parallel, concurrently, or simultaneously. In addition, the order of operations can be rearranged. The process may be terminated when its operations are complete, but may also have additional steps not included in t...

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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 the vehicle autonomous mode operation. The planning method includes: tracking at least one other vehicle on the road where the current vehicle is driving to obtain a trajectory of the at least one other vehicle, the trajectory including the position passed by the at least one other vehicle; by synthesizing the at least one other vehicle A trajectory of another vehicle, determining the first trajectory; using a processor to offset the position of the first trajectory along the road width direction to obtain a second trajectory, the second trajectory is farthest from the lane where the current vehicle is located , located in the farthest lane of the road towards the direction of the first trajectory lane change.

Description

technical field [0001] Embodiments of the present invention relate to the field of automatic driving, and in particular, to a vehicle trajectory planning method, a control method and related devices. Background technique [0002] In autonomous mode, an autonomous vehicle can automatically navigate a specific path with little or no input or action from a human driver. The so-called passing specific route includes all routes before reaching the destination, or only includes a specific road section during passing. [0003] Self-driving vehicles usually include a variety of sensors to sense the surrounding environment of the vehicle, and adjust the vehicle control state based on the sensing results and decision-making algorithms. [0004] Lanes may be closed or moved when road maintenance is performed. 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 ...

Claims

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Application Information

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Patent Type & Authority Patents(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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