Vehicle collision avoidance dynamic safety path planning method based on accurate trajectory prediction

Abstract

The invention relates to a vehicle collision avoidance dynamic safety path planning method based on accurate trajectory prediction. The method comprises the steps of obtaining vehicle state information and parameter information of a vehicle and an obstacle vehicle; constructing a vehicle trajectory prediction model based on a three-degree-of-freedom vehicle dynamics model and a long-short-term memory recurrent neural network LSTM; using the vehicle trajectory prediction model to predict the driving trajectories of the vehicle and the obstacle vehicle, and obtaining the driving trajectory prediction data of the vehicle and the obstacle vehicle; constructing a vehicle dynamic safety path planning model by fusing mesh generation, an artificial potential field method and a high-order polynomial curve fitting method; based on the driving trajectory prediction data of the vehicle and the obstacle vehicle obtained in the step 3, using the vehicle dynamic safety path planning model to obtain an optimal collision avoidance path of the vehicle; and carrying out speed and acceleration real-time matching on the optimal collision avoidance path obtained in the step 5. Compared with the prior art, the method has the advantages of high precision, safety, feasibility, comfort and the like.

Description

technical field [0001] The present invention relates to the technical field of advanced assisted driving and automatic driving, in particular to a dynamic safety path planning method for vehicle collision avoidance based on accurate trajectory prediction. Background technique [0002] Advanced assisted driving and automatic driving technology is an effective means to solve problems such as road congestion and frequent traffic accidents. Its research and development and promotion are of great significance for ensuring driving safety, improving traffic efficiency and building a smart transportation system. [0003] When the vehicle is running, if the longitudinal inter-vehicle distance is less than the shortest distance required for braking and collision avoidance, it is still possible to avoid accidents by turning to avoid collisions, but in this collision avoidance condition, how to quickly and accurately plan the optimal collision avoidance path It is the focus and difficul...

AI Technical Summary

Problems solved by technology

[0005] To sum up, in terms of the trajectory prediction of the own vehicle and the obstacle vehicle, there is still the problem that the trajectory prediction accuracy in the short-term domain and the long-term domain cannot be optimized at the same time, which eventually leads to the low accuracy of vehicle trajectory prediction and the lack of rationality of the path planning results ; In addition, in terms of path planning, most methods only plan the collision avoidance path, lack of speed and acceleration planning or only constrain the speed and acceleration, and cannot guarantee the tracking feasibility of the collision avoidance path

Images