CN111610785B - Motion planning method and motion planning device for unmanned vehicle - Google Patents

Motion planning method and motion planning device for unmanned vehicle Download PDF

Info

Publication number
CN111610785B
CN111610785B CN202010454502.7A CN202010454502A CN111610785B CN 111610785 B CN111610785 B CN 111610785B CN 202010454502 A CN202010454502 A CN 202010454502A CN 111610785 B CN111610785 B CN 111610785B
Authority
CN
China
Prior art keywords
information
curve
unmanned vehicle
acceleration
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010454502.7A
Other languages
Chinese (zh)
Other versions
CN111610785A (en
Inventor
王维
贺志国
刘柱
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sany Special Vehicle Co Ltd
Original Assignee
Sany Special Vehicle Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sany Special Vehicle Co Ltd filed Critical Sany Special Vehicle Co Ltd
Priority to CN202010454502.7A priority Critical patent/CN111610785B/en
Publication of CN111610785A publication Critical patent/CN111610785A/en
Application granted granted Critical
Publication of CN111610785B publication Critical patent/CN111610785B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention provides a motion planning method and a motion planning device of an unmanned vehicle, wherein the motion planning method comprises the following steps: acquiring relative coordinates of a preset running track of the unmanned vehicle and an obstacle on the preset running track; determining vehicle displacement information and speed limit value information corresponding to the preset running track according to the preset running track and the relative coordinates; determining a first curve according to the vehicle displacement information and the speed limit value information; and calculating the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the preset running track according to the first curve. Compared with the technical scheme of planning the speed data through the corresponding relation of displacement and time in the related technical scheme, the method reduces the calculated amount and reduces the information processing burden of the platform, so that the method is suitable for most automatic driving platforms, and the technical problem that the automatic driving platforms cannot normally calculate due to limited calculating capacity is solved.

Description

Motion planning method and motion planning device for unmanned vehicle
Technical Field
The invention relates to the technical field of automatic driving, in particular to a motion planning method and a motion planning device of an unmanned vehicle.
Background
Speed planning is one of important parts of automatic driving trajectory planning, dynamic planning algorithms based on an S-T diagram (displacement-time diagram) or optimal algorithms based on search are mostly adopted in related automatic driving schemes, the two algorithms have the characteristics of complete probability and local optimization, but the two algorithms have the defects of large calculated amount and poor real-time performance, and particularly for an L2-level automatic driving platform, due to the fact that hardware computing capacity is limited, the real-time performance is difficult to guarantee.
Therefore, how to design a motion planning method of the unmanned vehicle which has small calculation amount and is generally suitable for most of automatic driving platforms becomes a technical problem to be solved urgently.
Disclosure of Invention
The present invention is directed to solving or improving at least one of the technical problems of the prior art or the related art.
To this end, a first aspect of the invention provides a method of motion planning for an unmanned vehicle.
A second aspect of the invention provides a motion planning apparatus for an unmanned vehicle.
In view of this, a first aspect of the present invention provides a motion planning method for an unmanned vehicle, including: acquiring relative coordinates of a preset running track of the unmanned vehicle and an obstacle on the preset running track; determining vehicle displacement information and speed limit value information corresponding to the preset running track according to the preset running track and the relative coordinates; determining a first curve according to the vehicle displacement information and the speed limit value information; and calculating the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the preset running track according to the first curve.
In the method for planning the movement of the unmanned vehicle, a preset running track of the unmanned vehicle measured in advance and relative coordinates of an obstacle on the preset running track are obtained in the first step, wherein the relative coordinates of the obstacle are generated based on a reference coordinate system in a planning process and can represent the position relation between the obstacle and the preset running track. And secondly, determining vehicle displacement information and speed limit information corresponding to the preset running track according to the preset running track and the relative coordinates, wherein the vehicle displacement information corresponds to track points on the preset running track, different track points correspond to different vehicle displacements, and the speed limit information is a speed limit condition associated with the vehicle running track so as to ensure that the unmanned vehicle runs safely on the preset running track. And thirdly, generating a first curve according to the vehicle displacement information and the speed limit value information determined in the previous step, wherein the first curve is an S-V curve (displacement-speed curve), and the S-V curve can reflect the corresponding relation between the displacement and the speed limit value on the preset running track. And fourthly, calculating data in the first curve through an S-shaped speed planning algorithm to obtain running time information on a preset running track and corresponding target speed information, wherein the running time information and the target speed information are final speed planning data, and the control system can control the unmanned vehicle to automatically run on the basis of safe running according to the running time information and the target speed information. Compared with the technical scheme of planning the speed data through the corresponding relation of displacement and time in the related technical scheme, the method greatly reduces the calculated amount and reduces the information processing burden of the platform, so that the motion planning method of the unmanned vehicle is suitable for most automatic driving platforms, and the technical problem that the normal calculation cannot be performed due to the limited calculation capability of the automatic driving platforms is solved. And the coordinate information of the obstacle on the preset running track is introduced into the S-V diagram, so that the unmanned vehicle can be ensured to avoid the obstacle in the automatic running process, and the safe running of the unmanned vehicle is ensured. And further, the technical effects of optimizing the motion planning method of the unmanned vehicle, simplifying the information processing flow of the planning method, reducing the burden of a processor, improving the execution efficiency of the planning method and improving the accuracy and safety of automatic driving control of the vehicle are achieved.
In addition, the motion planning method for the unmanned vehicle in the above technical solution provided by the present invention may further have the following additional technical features:
in the above technical solution, further, the step of calculating the travel time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the predetermined travel track according to the first curve specifically includes: acquiring an initial speed of the unmanned vehicle; calculating acceleration information according to the initial speed and the first curve; determining a second curve according to the first curve and the acceleration information; calculating the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the preset running track according to the second curve; wherein the formula for calculating the time information and the target information according to the data on the second curve includes:
Figure GDA0003370043890000031
s is displacement, V is velocity, a is acceleration, a0 is initial acceleration, and j is jerk.
In the technical scheme, how to calculate the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the preset running track according to the first curve is specifically limited. In the calculation process, the initial speed of the unmanned vehicle is obtained in the first step, and the initial speed is a preset value in a preset running track. And secondly, determining acceleration information according to the initial speed and the first curve, wherein the first curve reflects the vehicle displacement and the corresponding speed limit value, and on the first curve, if a speed limit condition is set at a preset running track point corresponding to the displacement, the speed limit value at the preset running track point is correspondingly changed. In contrast, by comparing and calculating the initial speed and the speed limit value corresponding to each speed limit condition, the acceleration information corresponding to the first curve can be calculated, so as to accurately reflect the acceleration change condition corresponding to the first curve. And thirdly, marking the acceleration information determined in the second step on the corresponding position of the first curve to form a second curve, wherein the second curve reflects the corresponding relation between displacement and speed and the corresponding relation between displacement and acceleration. And fourthly, referring to data in the second curve through an S-shaped speed planning algorithm, and calculating the running realization information and the corresponding target speed information of the unmanned vehicle. So as to accurately control the unmanned vehicle to automatically run. The acceleration information on the S-V diagram is calculated and the second curve is generated, so that the processing process of the system is further simplified, the information processing burden of the system is reduced, the application range of the motion planning method of the unmanned vehicle is widened, the information processing amount is reduced, and the technical effect of improving the information processing efficiency is achieved. Wherein the formula for calculating the time information and the target information according to the data on the second curve includes:
Figure GDA0003370043890000032
s is displacement, V is velocity, a is acceleration, and j is jerk.
In any of the above technical solutions, further, the step of determining the vehicle displacement information and the speed limit value information corresponding to the predetermined travel track according to the predetermined travel track and the relative coordinates specifically includes: determining inherent speed limit information according to a preset running track; and determining vehicle displacement information and speed limit value information corresponding to the preset running track according to the inherent speed limit information and the relative coordinates.
In the technical scheme, how to determine the vehicle displacement information and the speed limit value information corresponding to the preset running track according to the preset running track and the relative coordinates is specifically limited. The inherent speed limit information is the speed limit information contained in the preset running track and can embody the track point position of the speed limit area on the preset running track and the specific speed limit value. And then combining the extracted inherent speed limit information with the relative coordinate information to determine the corresponding relation between the displacement information and the speed limit value information of the vehicle so as to generate an S-V curve for the speed planning calculation. By combining the relative coordinate information of the obstacles in the S-V curve, unified calculation of all constraint conditions can be realized, so that the calculation burden caused by independently calculating the constraint conditions of the obstacles in the related technology is solved, on one hand, convenience is brought to solver mode adaptation in the planning calculation process, on the other hand, the information processing process is simplified, and the calculation amount is reduced. And further, the motion planning method of the unmanned vehicle is optimized, the information processing burden is reduced, and the technical effect of improving the information processing efficiency is achieved.
In any of the above technical solutions, further, the step of determining the acceleration information according to the initial velocity and the first curve specifically includes: determining displacement separation points according to the preset running track, the inherent speed limit information and the relative coordinates; dividing the first curve into a plurality of intervals according to the displacement dividing points; determining acceleration information corresponding to any interval according to the initial speed; the acceleration information comprises an acceleration direction and an acceleration magnitude.
In this solution, it is specifically defined how to determine the acceleration information from the initial velocity and the first curve. And in the first step, displacement separation points are determined on a displacement coordinate axis of the first curve according to the preset running track, the inherent linear speed information and the relative coordinates, and the displacement separation points correspond to the track point positions of the speed limiting conditions on the preset running track. And the second step is to divide the first curve into a plurality of intervals according to the displacement division points, wherein the first interval is formed by dividing the starting point and the first division point on the first curve along the displacement increasing direction. And thirdly, gradually calculating acceleration information corresponding to the speed limit value in each interval in the displacement increasing direction from the starting point so as to facilitate the system to plan the motion of the unmanned vehicle according to the calculated acceleration information. The specific acceleration information includes an acceleration magnitude and an acceleration direction, the acceleration direction being a positive direction representing an increase in the speed of the unmanned vehicle, and the acceleration direction being a negative direction representing a decrease in the speed of the unmanned vehicle. By dividing the first curve into a plurality of sections and calculating the acceleration information corresponding to the acceleration information in each section, the acceleration marking of the S-V curve is realized, and compared with the method for calculating the acceleration change trend of each displacement point, the method greatly reduces the calculation amount, thereby further reducing the information processing burden and improving the information processing efficiency.
In any of the above technical solutions, further, the step of determining the acceleration information corresponding to any one of the intervals according to the initial speed specifically includes: determining acceleration information of the interval according to the initial speed and the speed limit value corresponding to the separation point at the tail end of the interval based on the interval as the initial interval; and determining the acceleration information of the interval according to the speed limit value corresponding to the separating point at the tail end of the interval and the speed limit value corresponding to the separating point at the tail end of the previous interval based on the interval non-initial interval.
In the technical scheme, how to determine the acceleration information corresponding to any interval according to the initial speed is specifically limited. In the processing process, whether the interval to be processed is an initial interval or not is judged, if so, the acceleration direction is determined according to the relation between the initial speed and the speed limit value corresponding to the segmentation point at the tail end of the initial interval, and then the acceleration is determined; if the current interval does not belong to the initial interval, determining the acceleration direction according to the magnitude relation between the speed limit value corresponding to the segmentation point at the tail end of the interval and the speed limit value of the segmentation point at the tail end of the previous interval, and then determining the acceleration magnitude.
In any of the above technical solutions, further, the step of determining the acceleration information corresponding to any one of the intervals according to the initial velocity further includes: determining the maximum acceleration value in at least two adjacent intervals based on the fact that the acceleration direction of any interval in the at least two adjacent intervals is negative; replacing the acceleration value of any one of the at least two adjacent intervals with the maximum acceleration value.
In the technical scheme, the step of determining the acceleration information according to the initial speed and the first curve is further optimized, and after the acceleration information of each interval is determined, whether a continuous deceleration interval exists is judged by screening whether the acceleration direction of any one of at least two adjacent intervals is negative. If the continuous deceleration interval is judged, the magnitude relation of the acceleration values corresponding to the two intervals is further compared, and the acceleration value of the whole continuous deceleration interval is replaced by the acceleration with the largest acceleration value in the continuous interval. By integrating the acceleration values of at least two continuous deceleration intervals, the unmanned vehicle can be prevented from continuously decelerating for many times in the driving process, so that the comfort level of a user in the unmanned vehicle is improved, the possibility of the user being sick is reduced, the motion planning method for optimizing the unmanned vehicle is realized, and the technical effect of the user experience is improved.
In any of the above technical solutions, further, the step of determining the second curve according to the first curve and the acceleration information specifically includes: calculating a steady-state speed according to the first curve and the acceleration information; determining a second curve according to the first curve, the acceleration information and the steady-state speed; wherein the formula for calculating the steady-state velocity from the first curve and the acceleration information comprises:
Figure GDA0003370043890000061
a is acceleration, V is velocity, tfIs a steady state time。
In this solution, a step of determining a second curve from the first curve and the acceleration information is specifically defined. The method comprises the steps of firstly analyzing a first curve and acceleration information, and when two adjacent intervals on the first curve are judged to be accelerated and then decelerated, substituting speed limit values and acceleration values on the two adjacent intervals into a steady-state speed calculation formula to calculate the steady-state speed. And then, replacing the speed limit value of the previous interval of the two adjacent intervals with the steady-state speed, and marking the acceleration information on the first curve to form a second curve. The second curve increases the correspondence of displacement and acceleration compared to the first curve, and corrects the steady-state velocity. Therefore, on one hand, the calculation process is simplified, the system can directly calculate the corresponding relation between the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle by calling the second curve, on the other hand, the situation that the unmanned vehicle is accelerated and decelerated suddenly first in the running process can be avoided by introducing the steady-state speed, the motion stability of the unmanned vehicle is improved under the condition that the requirement of the road speed limit is met, the comfort degree of a user is improved, and meanwhile, the device on the unmanned vehicle is protected from being damaged by acceleration and deceleration impact. Wherein the formula for calculating the steady-state velocity from the first curve and the acceleration information comprises:
Figure GDA0003370043890000062
a is acceleration, V is velocity, tfIs the steady state time.
In any of the above technical solutions, further, the inherent speed limit information includes road speed limit information and curvature speed limit information; the calculation formula of the curvature speed limit information comprises the following steps:
Figure GDA0003370043890000071
f is the friction force, m is the total vehicle mass (vehicle body mass + load mass), kappa is the curvature of the calculated road section, and v is the curvature speed limit information.
In the technical scheme, the inherent speed limit information comprises road speed limit information and curvature speed limit information, and the road speed limit information is inherent signboard speed limit information of a road section. And the curvature speed limit information is obtained by calculating the curvature of the turning road section on the preset running track. By using the road speed limit information, the overspeed violation of the unmanned vehicle can be avoided, and the running safety and reliability of the unmanned vehicle are improved. The curvature speed limit information is introduced, so that the unmanned vehicle can be prevented from turning over during the turning process, and the running safety and reliability of the unmanned vehicle are further improved.
In any of the above technical solutions, further, the method for planning the movement of the unmanned vehicle further includes: determining oil consumption information corresponding to the preset running track according to the second curve, the running time information and the target speed information; acquiring initial oil quantity information of the unmanned vehicle; and determining an oil consumption alarm point of the unmanned vehicle on a preset running track according to the oil consumption information and the initial oil quantity information.
In the technical scheme, after the speed planning of the preset running track is completed, the system can also determine the corresponding relation between the track point on the preset running track and the oil consumption according to the second curve, the running time information and the target speed information, then obtain the initial oil quantity information of the unmanned vehicle, and finally determine the track point of the oil consumption alarm of the unmanned vehicle on the preset running track according to the oil consumption information and the initial oil quantity information. In the prior art, the prediction of the fuel consumption only stays on the predicted mileage which can be driven by the current fuel quantity, and the predicted mileage value is a predicted value of the previous driving record, so that the real fuel consumption cannot be accurately reflected. To this, the acceleration information on this application through the second curve, the target speed information and the initial oil mass information of planning out can accurately determine that unmanned vehicle can exhaust the oil mass on specific which tracing point to set up the warning point on the place ahead orbit of this oil mass exhaustion point, refuel for unmanned vehicle with the warning user. Meanwhile, the user can conveniently select the corresponding gas station according to the alarm point, and the use experience of the user is improved.
According to a second aspect of the present invention, there is provided a motion planning apparatus for an unmanned vehicle, comprising: a first acquisition unit that acquires a predetermined travel locus of the unmanned vehicle and relative coordinates of an obstacle on the predetermined travel locus; the speed limit value analyzing unit is used for determining vehicle displacement information and speed limit value information corresponding to the preset running track according to the preset running track and the relative coordinates; the first curve analysis unit determines a first curve according to the vehicle displacement information and the speed limit value information; a second acquisition unit that acquires an initial speed of the unmanned vehicle; the first calculating unit calculates acceleration information according to the initial speed and the first curve; the second curve analysis unit determines a second curve according to the first curve and the acceleration information; the second calculating unit calculates the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the preset running track according to the second curve; wherein the formula for calculating the time information and the target information according to the data on the second curve includes:
Figure GDA0003370043890000081
s is displacement, V is velocity, a is acceleration, and j is jerk.
In this technical solution, a motion planning apparatus is defined that can implement the motion planning method for the unmanned vehicle in any one of the above technical solutions, and the motion planning apparatus has the advantages of any one of the above technical solutions, and is not described herein again.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 shows a flow diagram of a method of motion planning for an unmanned vehicle according to an embodiment of the invention;
FIG. 2 shows a flow diagram of a method of motion planning for an unmanned vehicle according to another embodiment of the invention;
FIG. 3 shows a flow diagram of a method of motion planning for an unmanned vehicle, according to yet another embodiment of the invention;
FIG. 4 shows a flow diagram of a method of motion planning for an unmanned vehicle, according to yet another embodiment of the invention;
FIG. 5 shows a flow diagram of a method of motion planning for an unmanned vehicle, according to yet another embodiment of the invention;
FIG. 6 shows a flow diagram of a method of motion planning for an unmanned vehicle, according to yet another embodiment of the invention;
FIG. 7 shows a flow diagram of a method of motion planning for an unmanned vehicle, according to yet another embodiment of the invention;
FIG. 8 shows a flow diagram of a method of motion planning for an unmanned vehicle, according to yet another embodiment of the invention;
FIG. 9 illustrates a step diagram of a method of motion planning for an unmanned vehicle, in accordance with an embodiment of the present invention;
FIG. 10 illustrates a section marking step diagram according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A motion planning method of an unmanned vehicle and a motion planning apparatus of an unmanned vehicle according to some embodiments of the present invention are described below with reference to fig. 1 to 10.
As shown in fig. 1, an embodiment of the first aspect of the present invention provides a motion planning method for an unmanned vehicle, where the motion planning method for the unmanned vehicle includes:
step S102, acquiring relative coordinates of a preset running track of the unmanned vehicle and an obstacle on the preset running track;
step S104, determining vehicle displacement information and speed limit value information corresponding to the preset running track according to the preset running track and the relative coordinates;
step S106, determining a first curve according to the vehicle displacement information and the speed limit value information;
and step S108, calculating the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the preset running track according to the first curve.
In the method for planning the movement of the unmanned vehicle, a preset running track of the unmanned vehicle measured in advance and relative coordinates of an obstacle on the preset running track are obtained in the first step, wherein the relative coordinates of the obstacle are generated based on a reference coordinate system in a planning process and can represent the position relation between the obstacle and the preset running track. And secondly, determining vehicle displacement information and speed limit information corresponding to the preset running track according to the preset running track and the relative coordinates, wherein the vehicle displacement information corresponds to track points on the preset running track, different track points correspond to different vehicle displacements, and the speed limit information is a speed limit condition associated with the vehicle running track so as to ensure that the unmanned vehicle runs safely on the preset running track. And thirdly, generating a first curve according to the vehicle displacement information and the speed limit value information determined in the previous step, wherein the first curve is an S-V curve (displacement-speed curve), and the S-V curve can reflect the corresponding relation between the displacement and the speed limit value on the preset running track. And fourthly, calculating data in the first curve through an S-shaped speed planning algorithm to obtain running time information on a preset running track and corresponding target speed information, wherein the running time information and the target speed information are final speed planning data, and the control system can control the unmanned vehicle to automatically run on the basis of safe running according to the running time information and the target speed information. Compared with the embodiment of planning the speed data through the corresponding relation of displacement and time in the related embodiment, the calculation amount is greatly reduced, and the information processing burden of the platform is reduced, so that the motion planning method of the unmanned vehicle is suitable for most automatic driving platforms, and the technical problem that the normal calculation cannot be performed due to the limited calculation capability of the automatic driving platforms is solved. And the coordinate information of the obstacle on the preset running track is introduced into the S-V diagram, so that the unmanned vehicle can be ensured to avoid the obstacle in the automatic running process, and the safe running of the unmanned vehicle is ensured. And further, the technical effects of optimizing the motion planning method of the unmanned vehicle, simplifying the information processing flow of the planning method, reducing the burden of a processor, improving the execution efficiency of the planning method and improving the accuracy and safety of automatic driving control of the vehicle are achieved.
In an embodiment of the present invention, further, as shown in fig. 2, a motion planning method of an unmanned vehicle includes:
step S202, acquiring relative coordinates of a preset running track of the unmanned vehicle and an obstacle on the preset running track;
step S204, vehicle displacement information and speed limit value information corresponding to the preset running track are determined according to the preset running track and the relative coordinates;
step S206, determining a first curve according to the vehicle displacement information and the speed limit value information;
step S208, acquiring the initial speed of the unmanned vehicle;
step S210, determining acceleration information according to the initial speed and the first curve;
step S212, determining a second curve according to the first curve and the acceleration information;
step S214, calculating the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the preset running track according to the second curve;
wherein the formula for calculating the time information and the target information according to the data on the second curve includes:
Figure GDA0003370043890000111
s is displacement, V is velocity, a is acceleration, a0 is initial acceleration, and j is jerk.
In this embodiment, how to calculate the travel time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the predetermined travel track from the first curve is specifically defined. In the calculation process, the initial speed of the unmanned vehicle is obtained in the first step, and the initial speed is a preset value in a preset running track. And secondly, determining acceleration information according to the initial speed and the first curve, wherein the first curve reflects the vehicle displacement and the corresponding speed limit value, and on the first curve, if a speed limit condition is set at a preset running track point corresponding to the displacement, the speed limit value at the preset running track point is correspondingly changed. In contrast, by comparing and calculating the initial speed and the speed limit value corresponding to each speed limit condition, the acceleration information corresponding to the first curve can be calculated, so as to accurately reflect the acceleration change condition corresponding to the first curve. And thirdly, marking the acceleration information determined in the second step on the corresponding position of the first curve to form a second curve, wherein the second curve reflects the corresponding relation between displacement and speed and the corresponding relation between displacement and acceleration. And fourthly, referring to data in the second curve through an S-shaped speed planning algorithm, and calculating the running realization information and the corresponding target speed information of the unmanned vehicle. So as to accurately control the unmanned vehicle to automatically run. The acceleration information on the S-V diagram is calculated and the second curve is generated, so that the processing process of the system is further simplified, the information processing burden of the system is reduced, the application range of the motion planning method of the unmanned vehicle is widened, the information processing amount is reduced, and the technical effect of improving the information processing efficiency is achieved. Wherein the formula for calculating the time information and the target information according to the data on the second curve includes:
Figure GDA0003370043890000121
s is displacement, V is velocity, a is acceleration, and j is jerk.
In an embodiment of the present invention, further, as shown in fig. 3, a motion planning method of an unmanned vehicle includes:
step S302, acquiring relative coordinates of a preset running track of the unmanned vehicle and an obstacle on the preset running track;
step S304, determining inherent speed limit information according to a preset running track;
step S306, vehicle displacement information and speed limit value information corresponding to the preset running track are determined according to the inherent speed limit information and the relative coordinates;
step S308, determining a first curve according to the vehicle displacement information and the speed limit value information;
step S310, acquiring an initial speed of the unmanned vehicle;
step S312, determining acceleration information according to the initial speed and the first curve;
step S314, determining a second curve according to the first curve and the acceleration information;
and step S316, calculating the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the preset running track according to the second curve.
In the embodiment, how to determine the vehicle displacement information and the speed limit value information corresponding to the preset running track according to the preset running track and the relative coordinates is specifically defined. The inherent speed limit information is the speed limit information contained in the preset running track and can embody the track point position of the speed limit area on the preset running track and the specific speed limit value. And then combining the extracted inherent speed limit information with the relative coordinate information to determine the corresponding relation between the displacement information and the speed limit value information of the vehicle so as to generate an S-V curve for the speed planning calculation. By combining the relative coordinate information of the obstacles in the S-V curve, unified calculation of all constraint conditions can be realized, so that the calculation burden caused by independently calculating the constraint conditions of the obstacles in the related technology is solved, on one hand, convenience is brought to solver mode adaptation in the planning calculation process, on the other hand, the information processing process is simplified, and the calculation amount is reduced. And further, the motion planning method of the unmanned vehicle is optimized, the information processing burden is reduced, and the technical effect of improving the information processing efficiency is achieved.
In an embodiment of the present invention, further, as shown in fig. 4, a motion planning method of an unmanned vehicle includes:
step S402, acquiring relative coordinates of a preset running track of the unmanned vehicle and an obstacle on the preset running track;
step S404, determining inherent speed limit information according to a preset running track;
step S406, vehicle displacement information and speed limit value information corresponding to the preset running track are determined according to the inherent speed limit information and the relative coordinates;
step S408, determining a first curve according to the vehicle displacement information and the speed limit value information;
step S410, acquiring an initial speed of the unmanned vehicle;
step S412, determining displacement separation points according to the preset running track, the inherent speed limit information and the relative coordinates;
step S414, dividing the first curve into a plurality of intervals according to the displacement dividing points;
step S416, determining acceleration information corresponding to any interval according to the initial speed;
step S418, determining a second curve according to the first curve and the acceleration information;
in step S420, the driving time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the predetermined driving trajectory are calculated according to the second curve.
The acceleration information comprises an acceleration direction and an acceleration magnitude.
In this embodiment it is specifically defined how the acceleration information is determined from the initial velocity and the first curve. And in the first step, displacement separation points are determined on a displacement coordinate axis of the first curve according to the preset running track, the inherent linear speed information and the relative coordinates, and the displacement separation points correspond to the track point positions of the speed limiting conditions on the preset running track. And the second step is to divide the first curve into a plurality of intervals according to the displacement division points, wherein the first interval is formed by dividing the starting point and the first division point on the first curve along the displacement increasing direction. And thirdly, gradually calculating acceleration information corresponding to the speed limit value in each interval in the displacement increasing direction from the starting point so as to facilitate the system to plan the motion of the unmanned vehicle according to the calculated acceleration information. The specific acceleration information includes an acceleration magnitude and an acceleration direction, the acceleration direction being a positive direction representing an increase in the speed of the unmanned vehicle, and the acceleration direction being a negative direction representing a decrease in the speed of the unmanned vehicle. By dividing the first curve into a plurality of sections and calculating the acceleration information corresponding to the acceleration information in each section, the acceleration marking of the S-V curve is realized, and compared with the method for calculating the acceleration change trend of each displacement point, the method greatly reduces the calculation amount, thereby further reducing the information processing burden and improving the information processing efficiency.
In an embodiment of the present invention, further, as shown in fig. 5, a motion planning method of an unmanned vehicle includes:
step S502, acquiring relative coordinates of a preset running track of the unmanned vehicle and an obstacle on the preset running track;
step S504, determining inherent speed limit information according to a preset running track;
step S506, vehicle displacement information and speed limit value information corresponding to the preset running track are determined according to the inherent speed limit information and the relative coordinates;
step S508, determining a first curve according to the vehicle displacement information and the speed limit value information;
step S510, acquiring an initial speed of the unmanned vehicle;
step S512, determining displacement separation points according to the preset running track, the inherent speed limit information and the relative coordinates;
step S514, dividing the first curve into a plurality of intervals according to the displacement dividing points;
step S516, based on the interval as an initial interval, determining acceleration information of the interval according to the initial speed and the speed limit value corresponding to the separation point at the tail end of the interval; determining acceleration information of the interval according to the speed limit value corresponding to the separating point at the tail end of the interval and the speed limit value corresponding to the separating point at the tail end of the previous interval on the basis of the interval non-initial interval;
step S518, determining a second curve according to the first curve and the acceleration information;
in step S520, the driving time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the predetermined driving trajectory are calculated according to the second curve.
In this embodiment, how to determine the acceleration information corresponding to any one interval according to the initial speed is specifically defined. In the processing process, whether the interval to be processed is an initial interval or not is judged, if so, the acceleration direction is determined according to the relation between the initial speed and the speed limit value corresponding to the segmentation point at the tail end of the initial interval, and then the acceleration is determined; if the current interval does not belong to the initial interval, determining the acceleration direction according to the magnitude relation between the speed limit value corresponding to the segmentation point at the tail end of the interval and the speed limit value of the segmentation point at the tail end of the previous interval, and then determining the acceleration magnitude.
In an embodiment of the present invention, further, as shown in fig. 6, a motion planning method of an unmanned vehicle includes:
step S602, acquiring relative coordinates of a preset running track of the unmanned vehicle and an obstacle on the preset running track;
step S604, determining inherent speed limit information according to a preset running track;
step S606, vehicle displacement information and speed limit value information corresponding to the preset running track are determined according to the inherent speed limit information and the relative coordinates;
step S608, determining a first curve according to the vehicle displacement information and the speed limit value information;
step S610, acquiring an initial speed of the unmanned vehicle;
step S612, determining displacement separation points according to the preset running track, the inherent speed limit information and the relative coordinates;
step S614, dividing the first curve into a plurality of intervals according to the displacement dividing points;
step S616, based on the interval as an initial interval, determining the acceleration information of the interval according to the initial speed and the speed limit value corresponding to the separation point at the tail end of the interval; determining acceleration information of the interval according to the speed limit value corresponding to the separating point at the tail end of the interval and the speed limit value corresponding to the separating point at the tail end of the previous interval on the basis of the interval non-initial interval;
step 618, determining the maximum acceleration value in at least two adjacent intervals based on the fact that the acceleration direction of any interval in the at least two adjacent intervals is negative;
step S620, replacing the acceleration value of any one of at least two adjacent intervals with the maximum acceleration value;
step S622, determining a second curve according to the first curve and the acceleration information;
in step S624, the driving time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the predetermined driving trajectory are calculated according to the second curve.
In this embodiment, the step of determining the acceleration information according to the initial speed and the first curve is further optimized, and after the acceleration information of each interval is determined, whether a continuous deceleration interval exists is determined by screening whether the acceleration direction of any one of at least two adjacent intervals is negative. If the continuous deceleration interval is judged, the magnitude relation of the acceleration values corresponding to the two intervals is further compared, and the acceleration value of the whole continuous deceleration interval is replaced by the acceleration with the largest acceleration value in the continuous interval. By integrating the acceleration values of at least two continuous deceleration intervals, the unmanned vehicle can be prevented from continuously decelerating for many times in the driving process, so that the comfort level of a user in the unmanned vehicle is improved, the possibility of the user being sick is reduced, the motion planning method for optimizing the unmanned vehicle is realized, and the technical effect of the user experience is improved.
In an embodiment of the present invention, further, as shown in fig. 7, a motion planning method of an unmanned vehicle includes:
step S702, acquiring relative coordinates of a preset running track of the unmanned vehicle and an obstacle on the preset running track;
step S704, determining vehicle displacement information and speed limit value information corresponding to the preset running track according to the preset running track and the relative coordinates;
step S706, determining a first curve according to the vehicle displacement information and the speed limit value information;
step 708, acquiring an initial speed of the unmanned vehicle;
step S710, determining acceleration information according to the initial speed and the first curve;
step S712, calculating a steady-state speed according to the first curve and the acceleration information;
step S714, determining a second curve according to the first curve, the acceleration information and the steady-state speed;
in step S716, the travel time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the predetermined travel trajectory are calculated according to the second curve.
Wherein the formula for calculating the steady-state velocity from the first curve and the acceleration information comprises:
Figure GDA0003370043890000161
a is acceleration, V is velocity, tfIs the steady state time.
In this embodiment, the step of determining the second curve from the first curve and the acceleration information is specifically defined. The method comprises the steps of firstly analyzing a first curve and acceleration information, and when two adjacent intervals on the first curve are judged to be accelerated and then decelerated, substituting speed limit values and acceleration values on the two adjacent intervals into a steady-state speed calculation formula to calculate the steady-state speed. And then, replacing the speed limit value of the previous interval of the two adjacent intervals with the steady-state speed, and marking the acceleration information on the first curve to form a second curve. The second curve increases the correspondence of displacement and acceleration compared to the first curve, and corrects the steady-state velocity. Therefore, on one hand, the calculation process is simplified, the system can directly calculate the corresponding relation between the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle by calling the second curve, on the other hand, the situation that the unmanned vehicle is accelerated and decelerated suddenly first in the running process can be avoided by introducing the steady-state speed, the motion stability of the unmanned vehicle is improved under the condition that the requirement of the road speed limit is met, the comfort degree of a user is improved, and meanwhile, the device on the unmanned vehicle is protected from being damaged by acceleration and deceleration impact. Wherein the formula for calculating the steady-state velocity from the first curve and the acceleration information comprises:
Figure GDA0003370043890000171
a is acceleration, V is velocity, tfIs the steady state time.
In one embodiment of the present invention, further, the inherent speed limit information includes road speed limit information and curvature speed limit information; the calculation formula of the curvature speed limit information comprises the following steps:
Figure GDA0003370043890000172
f is the friction force, m is the total vehicle mass (vehicle body mass + load mass), kappa is the curvature of the calculated road section, and v is the curvature speed limit information.
In this embodiment, the inherent speed limit information includes road speed limit information and curvature speed limit information, and the road speed limit information is inherent sign speed limit information of a road section. And the curvature speed limit information is obtained by calculating the curvature of the turning road section on the preset running track. The specific calculation formula is as follows:
Figure GDA0003370043890000173
in the formula, F is the friction force, m is the total vehicle mass (vehicle body mass + load mass), kappa is the curvature of the calculated road section, and v is curvature speed limit information. The vehicle overspeed violation can be avoided by referring to the road speed limit information, and the safety and the reliability of vehicle running are improved. The vehicle can be prevented from turning over in the turning process by introducing the curvature speed limit information, and the safety and the reliability of vehicle running are further improved.
In an embodiment of the present invention, further, as shown in fig. 8, a motion planning method of an unmanned vehicle includes:
step S802, acquiring relative coordinates of a preset running track of the unmanned vehicle and an obstacle on the preset running track;
step S804, vehicle displacement information and speed limit value information corresponding to the preset running track are determined according to the preset running track and the relative coordinates;
step S806, determining a first curve according to the vehicle displacement information and the speed limit value information;
step S808, acquiring an initial speed of the unmanned vehicle;
step S810, determining acceleration information according to the initial speed and the first curve;
step S812, determining a second curve according to the first curve and the acceleration information;
step S814, calculating the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the preset running track according to the second curve;
step S816, determining the oil consumption information corresponding to the preset running track according to the second curve, the running time information and the target speed information;
step S818, acquiring initial oil mass information of the unmanned vehicle;
and step S820, determining a fuel consumption alarm point of the unmanned vehicle on a preset running track according to the fuel consumption information and the initial fuel quantity information.
In this embodiment, after the speed planning of the predetermined driving track is completed, the system may further determine a corresponding relationship between a track point on the predetermined driving track and the oil consumption according to the second curve, the driving time information, and the target speed information, then obtain initial oil amount information of the unmanned vehicle, and finally determine a track point for oil consumption alarm of the unmanned vehicle on the predetermined driving track according to the oil consumption information and the initial oil amount information. In the prior art, the prediction of the fuel consumption only stays on the predicted mileage which can be driven by the current fuel quantity, and the predicted mileage value is a predicted value of the previous driving record, so that the real fuel consumption cannot be accurately reflected. To this, the acceleration information on this application through the second curve, the target speed information and the initial oil mass information of planning out can accurately determine that unmanned vehicle can exhaust the oil mass on specific which tracing point to set up the warning point on the place ahead orbit of this oil mass exhaustion point, refuel for unmanned vehicle with the warning user. Meanwhile, the user can conveniently select the corresponding gas station according to the alarm point, and the use experience of the user is improved.
In a second aspect, an embodiment of the present invention provides a motion planning apparatus for an unmanned vehicle, including: a first acquisition unit that acquires a predetermined travel locus of the unmanned vehicle and relative coordinates of an obstacle on the predetermined travel locus; the speed limit value analyzing unit is used for determining vehicle displacement information and speed limit value information corresponding to the preset running track according to the preset running track and the relative coordinates; the first curve analysis unit determines a first curve according to the vehicle displacement information and the speed limit value information; a second acquisition unit that acquires an initial speed of the unmanned vehicle; the first calculating unit calculates acceleration information according to the initial speed and the first curve; the second curve analysis unit determines a second curve according to the first curve and the acceleration information; the second calculating unit calculates the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the preset running track according to the second curve; wherein the formula for calculating the time information and the target information according to the data on the second curve includes:
Figure GDA0003370043890000191
s is displacement, V is velocity, a is acceleration, and j is jerk.
In this embodiment, a motion planning apparatus is defined that can implement the motion planning method for the unmanned vehicle in any of the above embodiments, and the motion planning apparatus has the advantages of any of the above embodiments, and is not described herein again.
In one embodiment of the present invention, as shown in fig. 9, the implementation steps are as follows:
for step S902, the relative coordinates of the obstacle are converted to an S-V constraint (first curve): in the automatic driving system, a planning module acquires feature data (relative coordinates) of an obstacle and a predicted scheduled driving track (Trajectory) from a prediction module, an S-V curve (displacement-speed curve) of the obstacle can be generated from the predicted and output scheduled driving track, and a speed plan plans a reasonable speed curve of a vehicle according to a planning decision so as to avoid the obstacle. The method adopts a simplified S-V curve, namely discretization is realized by sampling the S-V curve of the predicted track in a preset step length manner to obtain an approximate S-V curve of the barrier, and the approximate S-V curve is combined with road speed limit information and curvature speed limit information to calculate a final S-V curve; wherein, the curvature speed limit is calculated by adopting a centrifugal force formula.
For step S904, information marking and interval merging is performed on the S-V constraint: speed planning of vehicles can be divided into three main categories: acceleration, deceleration and uniform speed. In order to reduce the calculation amount, the invention adopts a forward search mode according to the initial speed of a vehicle and S-V speed limit data, firstly marks the current SV as one of acceleration, deceleration and uniform speed according to the relation (speed limit size relation) between the current S-V interval data and the previous S-V interval data, the processing flow is as shown in figure 10, after finishing the division of the interval on a first curve according to displacement separation points, the dynamic parameters comprise speed and acceleration, then the interval position judgment is executed, whether the interval is the last interval is judged, if the interval is the last interval, the step is finished, if the interval is not the last interval, whether the speed limit value of the current interval is more than the speed limit value of the previous interval is further judged, if the result is yes, the acceleration size is calculated and the interval is marked as an acceleration interval, if the result is not, marking the secondary interval as a deceleration interval, and then judging the position of the regression interval until the judgment of the last interval is finished.
The invention provides a simplifying means for merging continuous deceleration intervals on an S-V curve, if a plurality of continuous deceleration intervals exist, calculating the deceleration rate of each interval in the continuous deceleration intervals, then comparing the deceleration rate, and if the latter deceleration rate is larger than the former deceleration rate, removing the former deceleration rate constraint, thereby avoiding the condition that the vehicle decelerates for many times to improve the comfort.
For step S906, the steady state speed is calculated: in the planning process, a scene of first acceleration and then deceleration may be encountered, aiming at the problem, the minimum time of the steady-state speed is used for constraint limitation, the initial condition (speed V0, acceleration a), the termination condition (speed V0, acceleration a) and the steady-state time (Tsteady) are substituted into a steady-state speed calculation formula to calculate the steady-state speed (Vsteady), and the steady-state speed is set as the speed-limiting speed for solving the current S-V curve section.
For step S908, the speed planning result is output: and calculating the running time information of the vehicle and the target speed information of the vehicle corresponding to the preset running track according to a dynamic formula and an S-shaped speed planning algorithm.
In the present invention, the terms "mounting," "connecting," "fixing," and the like are used in a broad sense, for example, "connecting" may be a fixed connection, a detachable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. A method of motion planning for an unmanned vehicle, comprising:
acquiring relative coordinates of a preset running track of an unmanned vehicle and an obstacle on the preset running track;
determining vehicle displacement information and speed limit value information corresponding to the preset running track according to the preset running track and the relative coordinates;
determining a first curve according to the vehicle displacement information and the speed limit value information;
calculating the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the preset running track according to the first curve;
the step of calculating the travel time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the predetermined travel track according to the first curve specifically includes:
obtaining an initial speed of the unmanned vehicle;
calculating acceleration information according to the initial speed and the first curve;
determining a second curve according to the first curve and the acceleration information;
calculating the running time information of the unmanned vehicle and the target speed information of the unmanned vehicle corresponding to the preset running track according to the second curve;
the determining a second curve according to the first curve and the acceleration information specifically includes:
calculating a steady-state speed according to the first curve and the acceleration information;
determining a second curve according to the first curve, the acceleration information and the steady-state speed;
the formula for calculating the steady-state velocity from the first curve and the acceleration information includes:
Figure FDA0003370043880000011
a is acceleration, a0 is initial acceleration, tfIs the steady state time.
2. The method for motion planning for an unmanned vehicle according to claim 1,
the formula for calculating the time information and the target speed information from the data on the second curve includes:
Figure FDA0003370043880000021
v is velocity, s is displacement, and j is jerk.
3. The method for planning the movement of the unmanned vehicle according to claim 2, wherein the step of determining the vehicle displacement information and the speed limit value information corresponding to the predetermined travel track according to the predetermined travel track and the relative coordinates specifically includes:
determining inherent speed limit information according to the preset running track;
and determining vehicle displacement information and speed limit value information corresponding to the preset running track according to the inherent speed limit information and the relative coordinates.
4. The method according to claim 3, wherein the step of determining acceleration information from the initial velocity and the first curve comprises:
determining displacement separation points according to the preset running track, the inherent speed limit information and the relative coordinates;
dividing the first curve into a plurality of intervals according to the displacement dividing points;
determining acceleration information corresponding to any one interval according to the initial speed;
wherein the acceleration information comprises an acceleration direction and an acceleration magnitude.
5. The method according to claim 4, wherein the step of determining acceleration information corresponding to any one of the intervals according to the initial velocity specifically comprises:
based on the interval as an initial interval, determining the acceleration information of the interval according to the initial speed and a speed limit value corresponding to the separation point at the tail end of the interval;
and determining the acceleration information of the interval according to the speed limit value corresponding to the separation point at the tail end of the interval and the speed limit value corresponding to the separation point at the tail end of the previous interval on the basis that the interval is a non-initial interval.
6. The method of claim 5, wherein the step of determining acceleration information corresponding to any of the intervals based on the initial velocity further comprises:
determining the maximum acceleration value in at least two adjacent intervals based on the fact that the acceleration direction of any one of the at least two adjacent intervals is negative;
replacing the acceleration value of any one of the at least two adjacent intervals with the maximum acceleration value.
7. The method for motion planning for an unmanned vehicle according to any one of claims 3 to 6, wherein the intrinsic speed limit information includes road speed limit information and curvature speed limit information;
wherein, the calculation formula of the curvature speed limit information comprises:
Figure FDA0003370043880000031
f is the friction force, m is the whole vehicle mass, kappa is the curvature of the calculated road section, and v is curvature speed limit information.
8. The method for motion planning for an unmanned vehicle according to any of claims 2 to 6, further comprising:
determining the oil consumption information corresponding to the preset running track according to the second curve, the running time information and the target speed information;
acquiring initial oil quantity information of the unmanned vehicle;
and determining an oil consumption alarm point of the unmanned vehicle on the preset running track according to the oil consumption information and the initial oil quantity information.
9. A motion planning apparatus for an unmanned vehicle, comprising:
a first acquisition unit that acquires a predetermined travel locus of an unmanned vehicle and relative coordinates of an obstacle on the predetermined travel locus;
the speed limit value analyzing unit is used for determining vehicle displacement information and speed limit value information corresponding to the preset running track according to the preset running track and the relative coordinates;
the first curve analysis unit determines a first curve according to the vehicle displacement information and the speed limit value information;
a second acquisition unit that acquires an initial speed of the unmanned vehicle;
a first calculation unit that calculates acceleration information from the initial velocity and the first curve;
the second curve analysis unit determines a second curve according to the first curve and the acceleration information;
a second calculation unit that calculates travel time information of the unmanned vehicle and target speed information of the unmanned vehicle corresponding to the predetermined travel trajectory according to the second curve;
the formula for calculating the time information and the target speed information from the data on the second curve includes:
Figure FDA0003370043880000041
s is displacement, V is velocity, a is acceleration, a0 is initial acceleration, j is jerk;
the determining a second curve according to the first curve and the acceleration information specifically includes:
calculating a steady-state speed according to the first curve and the acceleration information;
determining a second curve according to the first curve, the acceleration information and the steady-state speed;
Figure FDA0003370043880000042
tfis the steady state time.
CN202010454502.7A 2020-05-26 2020-05-26 Motion planning method and motion planning device for unmanned vehicle Active CN111610785B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010454502.7A CN111610785B (en) 2020-05-26 2020-05-26 Motion planning method and motion planning device for unmanned vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010454502.7A CN111610785B (en) 2020-05-26 2020-05-26 Motion planning method and motion planning device for unmanned vehicle

Publications (2)

Publication Number Publication Date
CN111610785A CN111610785A (en) 2020-09-01
CN111610785B true CN111610785B (en) 2022-02-18

Family

ID=72200465

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010454502.7A Active CN111610785B (en) 2020-05-26 2020-05-26 Motion planning method and motion planning device for unmanned vehicle

Country Status (1)

Country Link
CN (1) CN111610785B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113867365B (en) * 2021-10-28 2024-05-14 广州文远知行科技有限公司 Method and device for determining variable acceleration of unmanned vehicle and related equipment
CN115127576B (en) * 2022-09-02 2022-12-13 青岛慧拓智能机器有限公司 Path planning method, device, chip, terminal, electronic equipment and storage medium
CN116495013B (en) * 2023-06-21 2023-12-01 北京理工大学 Task demand-oriented speed planning method, system, equipment and storage medium

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109976355A (en) * 2019-04-26 2019-07-05 腾讯科技（深圳）有限公司 Method for planning track, system, equipment and storage medium
CN110276952A (en) * 2019-06-27 2019-09-24 武汉中海庭数据技术有限公司 A kind of traffic information analog acquisition method and device
KR102033924B1 (en) * 2018-06-04 2019-10-18 이성식 System for providing driving route of unmanned autonomous vehicle based on big data and method using the same
CN110364009A (en) * 2019-07-16 2019-10-22 华人运通(上海)自动驾驶科技有限公司 Traveling planing method, device, roadside device and storage medium based on roadside device
CN111169469A (en) * 2019-10-08 2020-05-19 中国第一汽车股份有限公司 Vehicle trajectory planning method and device, storage medium and automobile

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102033924B1 (en) * 2018-06-04 2019-10-18 이성식 System for providing driving route of unmanned autonomous vehicle based on big data and method using the same
CN109976355A (en) * 2019-04-26 2019-07-05 腾讯科技（深圳）有限公司 Method for planning track, system, equipment and storage medium
CN110276952A (en) * 2019-06-27 2019-09-24 武汉中海庭数据技术有限公司 A kind of traffic information analog acquisition method and device
CN110364009A (en) * 2019-07-16 2019-10-22 华人运通(上海)自动驾驶科技有限公司 Traveling planing method, device, roadside device and storage medium based on roadside device
CN111169469A (en) * 2019-10-08 2020-05-19 中国第一汽车股份有限公司 Vehicle trajectory planning method and device, storage medium and automobile

Also Published As

Publication number Publication date
CN111610785A (en) 2020-09-01

Similar Documents

Publication Publication Date Title
CN111610785B (en) Motion planning method and motion planning device for unmanned vehicle
JP6673293B2 (en) Vehicle system
US11680820B2 (en) Map information system
JP3714258B2 (en) Recommended operation amount generator for vehicles
CN110809790B (en) Vehicle information storage method, vehicle travel control method, and vehicle information storage device
US8947218B2 (en) Driving support device
JP2020119517A (en) Method for assisting driver, driver assistance system, and vehicle having such driver assistance system
JP7156394B2 (en) Other Vehicle Motion Prediction Method and Other Vehicle Motion Prediction Device
EP3925845B1 (en) Other vehicle action prediction method and other vehicle action prediction device
JP7170637B2 (en) Vehicle control system, vehicle control method, and program
CN113511204B (en) Vehicle lane changing behavior identification method and related equipment
US11634132B2 (en) Vehicle deceleration control system
CN114693540A (en) Image processing method and device and intelligent automobile
EP3683115A1 (en) Vehicle driving assistance system and vehicle driving assistance method
US11364909B2 (en) Vehicle control device
JP2020075561A (en) Travel range acquisition system, vehicle control system and travel range acquisition program
JP7356892B2 (en) Vehicle driving environment estimation method and driving environment estimation system
JP7167732B2 (en) map information system
WO2023129890A1 (en) Integrated trajectory forecasting, error estimation, and vehicle handling when detecting an observed scenario
JP2019191869A (en) Cruise scene learning device, cruise scene estimation device, and cruise scene estimation system
CN117999204A (en) Vehicle control device, vehicle control method, and vehicle control system
JP7086021B2 (en) Behavior predictor
CN111469852A (en) Method for selecting a main object for a driver assistance system of a motor vehicle and driver assistance system
WO2021166893A1 (en) Target object recognition device
US20220254170A1 (en) Sensor Information Processing Device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant