CN111169469A - Vehicle trajectory planning method and device, storage medium and automobile - Google Patents

Vehicle trajectory planning method and device, storage medium and automobile Download PDF

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Publication number
CN111169469A
CN111169469A CN201910950676.XA CN201910950676A CN111169469A CN 111169469 A CN111169469 A CN 111169469A CN 201910950676 A CN201910950676 A CN 201910950676A CN 111169469 A CN111169469 A CN 111169469A
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lateral
vehicle
lane line
track
lateral acceleration
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CN111169469B (en
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尚秉旭
刘洋
陈志新
王洪峰
陈捷
李宇寂
许朝文
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FAW Group Corp
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FAW Group Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/109—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a vehicle track planning method and device, a storage medium and an automobile. The method comprises the following steps: acquiring lateral deviation from the vehicle to a lane line, lateral speed of the vehicle relative to the lane line and lateral acceleration of the vehicle relative to the lane line at the starting position and the end position; acquiring a pre-designed track equation, and fitting the track equation based on lateral acceleration; and solving the fitted track equation based on the lateral deviation, the lateral speed and the lateral acceleration to obtain a track curve, so as to automatically drive based on the track curve, realize the refined planning of the vehicle track, and simultaneously ensure the comfort, the safety and the convenience of the automatic driving function.

Description

Vehicle trajectory planning method and device, storage medium and automobile
Technical Field
The embodiment of the invention relates to an automation technology, in particular to a method and a device for planning a track of a vehicle, a storage medium and an automobile.
Background
In the process of increasingly developing the automatic driving function of the vehicle, a track planning technology becomes a key component of a plurality of automatic driving functions, and the track planning technology is used as a main product performance breakthrough point in system functions such as lane keeping, automatic lane changing, automatic avoiding, full-automatic parking and the like.
The current lane keeping function firstly utilizes lane line pose information identified by a camera or other sensors, then combines the current state, the expected state and the lane line pose information of a vehicle to calculate an expected track, and finally calculates the horizontal position deviation of a pre-aiming time point and the expected lane line pose, wherein the deviation is used as an input instruction of a control system, so that the vehicle is kept to run in a lane.
Because the existing trajectory planning technology is mainly based on space factors to directly solve, although the safety of functions can be ensured, many limiting conditions need to be added in order to ensure the comfort, convenience and other factors, the adaptability of the trajectory curve obtained according to the related technology is poor, many parameters need to be calibrated in order to ensure the stability of the automatic driving function based on the trajectory curve, and the calibration work is complex.
Disclosure of Invention
The embodiment of the invention provides a vehicle track planning method and device, a storage medium and an automobile, which can realize fine planning of vehicle tracks, increase the stability and simplify the calibration work.
In a first aspect, an embodiment of the present invention provides a trajectory planning method for a vehicle, including:
acquiring lateral deviation from the vehicle to a lane line, lateral speed of the vehicle relative to the lane line and lateral acceleration of the vehicle relative to the lane line at the starting position and the end position;
acquiring a pre-designed track equation, and fitting the track equation based on lateral acceleration;
and solving the fitted track equation based on the lateral deviation, the lateral speed and the lateral acceleration to obtain a track curve so as to carry out automatic driving based on the track curve. .
In a second aspect, an embodiment of the present invention further provides a trajectory planning apparatus for a vehicle, where the apparatus includes:
the speed acquisition module is used for acquiring lateral deviation of the vehicle to the lane line, lateral speed of the vehicle relative to the lane line and lateral acceleration of the vehicle relative to the lane line when the vehicle is at the starting point position and the end point position;
the equation fitting module is used for acquiring a pre-designed track equation and fitting the track equation based on lateral acceleration;
and the curve determining module is used for solving the fitted track equation based on the lateral deviation, the lateral speed and the lateral acceleration to obtain a track curve so as to carry out automatic driving based on the track curve.
In a third aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the trajectory planning method for a vehicle according to the first aspect.
In a fourth aspect, an embodiment of the present invention further provides an automobile, including:
one or more processors;
storage means for storing one or more programs;
the sensor is used for acquiring lateral deviation of the vehicle to the lane line, lateral speed of the vehicle relative to the lane line and lateral acceleration of the vehicle relative to the lane line when the vehicle is at the starting position and the ending position;
when executed by the one or more processors, cause the one or more processors to implement the method of trajectory planning for a vehicle as described in the first aspect above.
The invention provides a vehicle track planning scheme, which is characterized in that a pre-designed track equation is fitted based on lateral acceleration by acquiring the lateral deviation from a vehicle to a lane line, the lateral speed of the vehicle relative to the lane line and the lateral acceleration of the vehicle relative to the lane line at a starting point position and an end point position; and solving the fitted track equation based on the lateral deviation, the lateral speed and the lateral acceleration to obtain a track curve. The lateral acceleration is considered in the process of the track curve, so that the fine planning of the vehicle track is realized, the comfort, the safety and the convenience of the automatic driving function are ensured, in addition, the parameters needing to be calibrated are reduced, and the complexity of calibration software is simplified.
Drawings
Fig. 1 is a flowchart of a trajectory planning method for a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a desired driving trajectory for a lane keeping function according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a fitted curve of acceleration according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a trajectory planning device of a vehicle according to a second embodiment of the present invention;
fig. 5 is a schematic view of an automobile according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The current lane keeping function firstly utilizes lane line pose information identified by a camera or other sensors, then combines the current state, the expected state and the lane line pose information of a vehicle to calculate an expected track, and finally calculates the horizontal position deviation of a pre-aiming time point and the expected lane line pose, wherein the deviation is used as an input instruction of a control system, so that the vehicle is kept to run in a lane. The existing method makes the following estimation and simplification:
a) fixing the pre-aiming time of the vehicle at different speeds;
b) assuming that the vehicle longitudinally runs at a constant speed
c) Irrespective of the influence of the lateral acceleration of the vehicle on the state of the vehicle
Based on the analysis, firstly, the existing lane keeping track planning method utilizes an estimation method in the time dimension, the aiming time of different drivers and different driving scenes are different, the driving state of the vehicle cannot be accurately expressed, secondly, the longitudinal motion of the vehicle cannot keep an ideal uniform speed state, the judgment of the longitudinal distance of the space track is also influenced, the vehicle keeping process is mainly a vehicle lateral motion adjusting process, and the influence of the lateral acceleration of the vehicle on the stability and the comfort of the lane keeping function is ignored and simplified.
In view of the above problems in the related art, embodiments of the present application provide a trajectory planning scheme for a vehicle to solve the above technical problems.
Example one
Fig. 1 is a flowchart of a method for planning a trajectory of a vehicle according to an embodiment of the present invention, where the embodiment is applicable to scenarios of automatic driving or intelligent driving, and the method may be executed by a trajectory planning apparatus of a vehicle, where the apparatus may be implemented by software and/or hardware, and is generally configured in an automobile. As shown in fig. 1, the method includes:
and step 110, acquiring the lateral deviation of the vehicle to the lane line, the lateral speed of the vehicle relative to the lane line and the lateral acceleration of the vehicle relative to the lane line at the starting position and the ending position.
The lateral deviation of the vehicle from the lane line can be understood as the distance of the vehicle side from the lane line. Illustratively, assume that the lateral deviation of the vehicle from the lane line at the start position and the end position is p0And peAt the starting and end positions, the lateral velocities of the vehicle relative to the lane line are v0And veAnd, at the starting and ending positions, the lateral acceleration of the vehicle with respect to the lane line is a0And aeWherein v is0、ve、a0、ae、p0And peCan be obtained through the position equation of the vehicle relative to the lane line and the state information of the target. The target is the position of the vehicle with respect to the lane line, and includes whether the vehicle is held at the center of two lane lines, or a set distance from one of the lane lines, and the like. It should be noted that the lane line pose information identified by the camera or other sensors may be utilized, so that the deviation of the vehicle from the lane line may be determined.
And 120, acquiring a pre-designed track equation, and fitting the track equation based on the lateral acceleration.
In the embodiment of the present invention, the trajectory equation includes: and the state function is discontinuous in a set time period, the set time period comprises at least two time sub-regions, and the state function is a continuous function in each time sub-region, wherein the state function is formed based on lateral deviation, lateral speed, lateral acceleration and acceleration change rate.
For example, the vehicle state at each time point can be represented by the following state quantities:
Figure BDA0002225559450000051
wherein the content of the first and second substances,
p is the lateral deviation of the vehicle from the lane line;
v is the lateral speed of the vehicle relative to the lane line;
a, the lateral acceleration of the vehicle relative to a lane line;
j is the acceleration rate of the vehicle relative to the lane line.
Accordingly, a trajectory equation C with time associated with the state function is establishedn(t) the expression is as follows:
Figure BDA0002225559450000061
when t is equal to 0, te]In time, the trajectory curve needs to satisfy the following constraint conditions:
quantity of state Ck(t) is a continuous function, i.e.
Figure BDA0002225559450000062
Are all continuous functions;
starting point C of track curven(0)＝x0；
End point of the trace curve Cn(te)＝xe。
In the case of obtaining a pre-designed trajectory equation, fitting the trajectory equation based on lateral acceleration may be optimized as: and fitting the state functions in the time sub-regions by adopting a Bezier curve based on the lateral acceleration to obtain a fitted track equation. Illustratively, a bezier curve of the predefined lateral acceleration is obtained as a function of the lateral acceleration: respectively carrying out primary integration and secondary integration on the acceleration function to obtain a lateral velocity function and a lateral displacement function; and determining a fitted track equation according to the lateral acceleration function, the lateral velocity function and the lateral displacement function.
It should be noted that, in order to ensure the continuity and smoothness of the whole trajectory curve, each piece of acceleration information (e.g., 0-t) is used1Time period, t1-t2Time period, t2-t3Time period, … …, tn-1-tnAcceleration information over a period of time) is fitted through a Bezier Curve (Bezier Curve) to ensure that the acceleration is continuously varying and smoothly transitioning throughout the Curve. Other variables (including velocity, displacement and rate of change of acceleration) are derived by acceleration integration or derivation.
In order to satisfy the Bezier curve definition, firstly, a coordinate system is required to be converted, and a state vector is converted
Figure BDA0002225559450000071
Into a coordinate system based on the variable s,
Figure BDA0002225559450000072
wherein s is defined as
Figure BDA0002225559450000073
Therefore, when t is in the interval [ tau ]k-1,τk]When the value of s is changed, the value of s is 0-1.0.
Defining acceleration
Figure BDA0002225559450000074
Is a Bezier curve, as follows:
Figure BDA0002225559450000075
wherein:
d is Bessel order;
k is a curve segment index value;
s is a time normalization quantity and takes a value of 0-1.0;
Bi,d(s) is a Bernstein bases polynomials (Bernstein bases) defined as follows:
Figure BDA0002225559450000076
wherein
Figure BDA0002225559450000077
From
Figure BDA0002225559450000078
The definition shows that each segment of curve is a d-order bezier curve.
And respectively carrying out primary integration and secondary integration on the lateral acceleration to obtain a velocity equation and a displacement equation as follows:
Figure BDA0002225559450000079
Figure BDA00022255594500000710
fig. 2 is a schematic diagram of a desired driving trajectory of a lane keeping function according to an embodiment of the present invention. Taking the expected driving trajectory for the lane keeping function shown in fig. 2 as an example, the trajectory starting position is a smooth curve, the vehicle is located at the center 220 of the lane, and the ending position is parallel to the lane line 210, and in order to obtain the above-mentioned effect, the lateral acceleration variation trend of the vehicle is gradually increased in the opposite direction and then gradually decreased to 0 as shown by the gray dashed line in the lower graph. Fig. 3 is a schematic diagram of a fitted curve of acceleration according to an embodiment of the present invention. And fitting the acceleration information by adopting a Bezier curve to ensure the smooth transition of the acceleration curve, so that the speed and displacement information are both continuous smooth transition curves, as shown by dotted lines in figure 3. Wherein, a0As starting point acceleration information, aeAnd planning to be zero for the terminal acceleration information.
And step 130, solving the fitted track equation based on the lateral deviation, the lateral speed and the lateral acceleration to obtain a track curve, and performing automatic driving based on the track curve.
The automatic driving includes functions required for planning a track trajectory, such as lane keeping, automatic lane changing, automatic avoidance, or full-automatic parking.
Illustratively, respectively calculating a speed difference value and a displacement difference value in each time subinterval according to the lateral deviation, the lateral speed and the lateral acceleration; determining a lateral acceleration of a midpoint position of each of the subintervals and a time difference from a starting position of the subintervals to the midpoint position based on the velocity difference and displacement difference; and determining a track curve corresponding to the track equation based on the lateral deviation of the vehicle from the lane line, the lateral speed of the vehicle relative to the lane line and the lateral acceleration of the vehicle relative to the lane line at the starting position, the intermediate position and the end position.
Due to the state quantity C of each section in the trajectory equationk(t) is a continuous function, and based on the above equation, the variation in each curve segment is calculated as follows:
Figure BDA0002225559450000081
Figure BDA0002225559450000082
according to the previous driving, the whole process is divided into two sections in time, and the two sections of time are assumed to be equal:
dt＝Δt1＝Δt2
in the invention, by adopting the 3-order Bezier curve, the state information of the starting point and the target point can be obtained, so that the state information (a) of the intermediate point needs to be obtained by the existing equationmDt), the following state quantities are defined:
v0: a first point lateral velocity;
a0: a first point lateral acceleration;
ve: end point lateral velocity;
ae: terminal lateral acceleration;
vm: a second point lateral velocity;
am: a second point lateral acceleration;
dt：dt＝Δt1＝Δt2；
dv：dv＝ve-v0；
dp: the difference in displacement between the current vehicle position and the vehicle position at the end point.
In the embodiment of the invention, a 3-order Bezier curve is adopted, and the Bezier order d is 3:
Figure BDA0002225559450000091
Figure BDA0002225559450000092
Figure BDA0002225559450000093
Figure BDA0002225559450000094
Figure BDA0002225559450000095
from the relationship between velocity and displacement, the following equation can be set forth and a can be foundmAnd dt expression
Figure BDA0002225559450000096
Figure BDA0002225559450000101
It should be noted that each curve segment is a bezier curve, and has a starting point, an intermediate point and an end point, the starting point and the end point are known, the intermediate point is substituted into an equation of velocity and displacement to obtain the curve segment, and then a trajectory curve is obtained according to the trajectory equation.
According to the technical scheme of the embodiment, the lateral deviation from the vehicle to the lane line, the lateral speed of the vehicle relative to the lane line and the lateral acceleration of the vehicle relative to the lane line are obtained when the vehicle is at the starting point position and the end point position, and the pre-designed track equation is subjected to fitting processing based on the lateral acceleration; and solving the fitted track equation based on the lateral deviation, the lateral speed and the lateral acceleration to obtain a track curve. The lateral acceleration is considered in the process of the track curve, so that the fine planning of the vehicle track is realized, the comfort, the safety and the convenience of the automatic driving function are ensured, in addition, the parameters needing to be calibrated are reduced, and the complexity of calibration software is simplified.
Example two
Fig. 4 is a schematic structural diagram of a trajectory planning device for a vehicle according to a second embodiment of the present invention, where the device may be implemented by software and/or hardware, and may be generally integrated in an automobile, and may implement automatic driving by executing a trajectory planning method for a vehicle. As shown in fig. 4, the apparatus includes:
a speed obtaining module 410, configured to obtain a lateral deviation of the vehicle from the lane line, a lateral speed of the vehicle relative to the lane line, and a lateral acceleration of the vehicle relative to the lane line at the starting position and the ending position;
an equation fitting module 420, configured to obtain a pre-designed trajectory equation, and perform fitting processing on the trajectory equation based on lateral acceleration;
and a curve determining module 430, configured to solve the fitted trajectory equation based on the lateral deviation, the lateral velocity, and the lateral acceleration to obtain a trajectory curve, so as to perform automatic driving based on the trajectory curve.
Optionally, the trajectory equation includes:
the method comprises the following steps that a discontinuous state function is formed in a set time period, the set time period comprises at least two time sub-regions, and the state function is a continuous function in each time sub-region, wherein the state function is formed on the basis of lateral deviation, lateral speed, lateral acceleration and acceleration change rate;
and, the equation fitting module 420 is specifically configured to:
and fitting the state functions in the time sub-regions by adopting a Bezier curve based on the lateral acceleration to obtain a fitted track equation.
Optionally, the curve determining module 430 is specifically configured to:
respectively calculating a speed difference value and a displacement difference value in each time subinterval according to the lateral deviation, the lateral speed and the lateral acceleration;
determining a lateral acceleration of a midpoint position of each of the subintervals and a time difference from a starting position of the subintervals to the midpoint position based on the velocity difference and displacement difference;
and determining a track curve corresponding to the track equation based on the lateral deviation of the vehicle from the lane line, the lateral speed of the vehicle relative to the lane line and the lateral acceleration of the vehicle relative to the lane line at the starting position, the intermediate position and the end position.
The vehicle trajectory planning device provided by the embodiment of the invention can execute the vehicle trajectory planning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
EXAMPLE III
Fig. 5 is a schematic view of an automobile according to a third embodiment of the present invention. Referring now to FIG. 5, an automobile suitable for use in implementing embodiments of the present invention is shown. As shown in fig. 5, the automobile 500 includes a memory, a processor 520 and a computer program stored on the memory and executable by the processor 520, and when the processor 520 executes the computer program, the method for planning a trajectory of a vehicle according to any embodiment of the present invention is implemented.
It should be noted that the car shown in fig. 5 is only an example, and should not bring any limitation to the function and the scope of the embodiment of the present disclosure.
As shown in fig. 5, the automobile 500 may include a processor 520 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)530 or a program loaded from a storage device 510 into a Random Access Memory (RAM) 540. In the RAM540, various programs and data necessary for the operation of the automobile 500 are also stored. Note that the memory includes a ROM530, a RAM540, a storage device 510, and the like.
The processor 520, the ROM530, and the RAM540 are connected to each other through a bus 550. An input/output (I/O) interface 560 is also connected to bus 550. Storage 510, output 580, and input 570 are connected to the I/O interface 560.
Example four
A fourth embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method for trajectory planning for a vehicle, the method comprising:
acquiring lateral deviation from the vehicle to a lane line, lateral speed of the vehicle relative to the lane line and lateral acceleration of the vehicle relative to the lane line at the starting position and the end position;
acquiring a pre-designed track equation, and fitting the track equation based on lateral acceleration;
and solving the fitted track equation based on the lateral deviation, the lateral speed and the lateral acceleration to obtain a track curve so as to carry out automatic driving based on the track curve.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the trajectory planning method for a vehicle provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the trajectory planning device for a vehicle, the units and modules included in the embodiment are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A method of trajectory planning for a vehicle, comprising:
acquiring lateral deviation from the vehicle to a lane line, lateral speed of the vehicle relative to the lane line and lateral acceleration of the vehicle relative to the lane line at the starting position and the end position;
acquiring a pre-designed track equation, and fitting the track equation based on lateral acceleration;
and solving the fitted track equation based on the lateral deviation, the lateral speed and the lateral acceleration to obtain a track curve so as to carry out automatic driving based on the track curve.
2. The method of claim 1, wherein the trajectory equation comprises:
and the state function is discontinuous in a set time period, the set time period comprises at least two time sub-regions, and the state function is a continuous function in each time sub-region, wherein the state function is formed based on lateral deviation, lateral speed, lateral acceleration and acceleration change rate.
3. The method of claim 2, wherein fitting the trajectory equation based on lateral acceleration comprises:
and fitting the state functions in the time sub-regions by adopting a Bezier curve based on the lateral acceleration to obtain a fitted track equation.
4. The method of claim 3, wherein fitting the state function in each of the time sub-regions with a Bezier curve based on the lateral acceleration comprises:
acquiring a predefined Bezier curve of the lateral acceleration as a function of the lateral acceleration:
respectively carrying out primary integration and secondary integration on the acceleration function to obtain a lateral velocity function and a lateral displacement function;
and determining a fitted track equation according to the lateral acceleration function, the lateral velocity function and the lateral displacement function.
5. The method of claim 1, wherein solving the fitted trajectory equation based on the lateral deviation, lateral velocity, and lateral acceleration results in a trajectory curve comprising:
respectively calculating a speed difference value and a displacement difference value in each time subinterval according to the lateral deviation, the lateral speed and the lateral acceleration;
determining a lateral acceleration of a midpoint position of each of the subintervals and a time difference from a starting position of the subintervals to the midpoint position based on the velocity difference and displacement difference;
and determining a track curve corresponding to the track equation based on the lateral deviation of the vehicle from the lane line, the lateral speed of the vehicle relative to the lane line and the lateral acceleration of the vehicle relative to the lane line at the starting position, the intermediate position and the end position.
6. A trajectory planning device for a vehicle, comprising:
the speed acquisition module is used for acquiring lateral deviation of the vehicle to the lane line, lateral speed of the vehicle relative to the lane line and lateral acceleration of the vehicle relative to the lane line when the vehicle is at the starting point position and the end point position;
the equation fitting module is used for acquiring a pre-designed track equation and fitting the track equation based on lateral acceleration;
and the curve determining module is used for solving the fitted track equation based on the lateral deviation, the lateral speed and the lateral acceleration to obtain a track curve so as to carry out automatic driving based on the track curve.
7. The apparatus of claim 6, wherein the trajectory equation comprises:
the method comprises the following steps that a discontinuous state function is formed in a set time period, the set time period comprises at least two time sub-regions, and the state function is a continuous function in each time sub-region, wherein the state function is formed on the basis of lateral deviation, lateral speed, lateral acceleration and acceleration change rate;
and the equation fitting module is specifically configured to:
and fitting the state functions in the time sub-regions by adopting a Bezier curve based on the lateral acceleration to obtain a fitted track equation.
8. The apparatus of claim 7, wherein the curve determination module is specifically configured to:
respectively calculating a speed difference value and a displacement difference value in each time subinterval according to the lateral deviation, the lateral speed and the lateral acceleration;
determining a lateral acceleration of a midpoint position of each of the subintervals and a time difference from a starting position of the subintervals to the midpoint position based on the velocity difference and displacement difference;
and determining a track curve corresponding to the track equation based on the lateral deviation of the vehicle from the lane line, the lateral speed of the vehicle relative to the lane line and the lateral acceleration of the vehicle relative to the lane line at the starting position, the intermediate position and the end position.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for trajectory planning for a vehicle according to any one of claims 1 to 5.
10. An automobile, comprising:
one or more processors;
storage means for storing one or more programs;
the sensor is used for acquiring lateral deviation of the vehicle to the lane line, lateral speed of the vehicle relative to the lane line and lateral acceleration of the vehicle relative to the lane line when the vehicle is at the starting position and the ending position;
when executed by the one or more processors, cause the one or more processors to implement a trajectory planning method for a vehicle as recited in any of claims 1-5.
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CN116101303A (en) * 2023-04-07 2023-05-12 成都理工大学工程技术学院 Vehicle driving assisting method, system, device and storage medium
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