CN111703421A - Trajectory planning system, method and storage medium for automatic driving and getting rid of difficulty of vehicle - Google Patents
Trajectory planning system, method and storage medium for automatic driving and getting rid of difficulty of vehicle Download PDFInfo
- Publication number
- CN111703421A CN111703421A CN202010402927.3A CN202010402927A CN111703421A CN 111703421 A CN111703421 A CN 111703421A CN 202010402927 A CN202010402927 A CN 202010402927A CN 111703421 A CN111703421 A CN 111703421A
- Authority
- CN
- China
- Prior art keywords
- module
- vehicle
- track
- curvature radius
- optimal track
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000007781 pre-processing Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 17
- 230000003993 interaction Effects 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims 1
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- 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
- B60W30/095—Predicting travel path or likelihood of collision
-
- 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
- B60W30/18036—Reversing
-
- 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
- B60W40/02—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 ambient conditions
-
- 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
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
Landscapes
- 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)
- Steering Control In Accordance With Driving Conditions (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a track planning system, a method and a storage medium for automatic driving and escaping of a vehicle, which relate to the technical field of automatic driving and comprise a sensor module, a global path planning module, a positioning module, a vehicle information module, an information preprocessing module, a track planning module, a control module and an execution module. The technical problems that the probability of successful obstacle avoidance of the conventional automatic driving vehicle under the complex road condition is reduced and the automatic backward movement cannot be realized are solved, and the adaptive capacity of the automatic driving system environment is improved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a track planning system and method for automatic driving and getting rid of difficulties of a vehicle and a storage medium.
Background
With the improvement of the accuracy of the sensor, the development of the chip technology and the arrival of 5G communication, more and more researches on automatic driving of the vehicle are carried out, wherein an L4-level automatic driving system mainly aims at urban complex road conditions, and a corresponding trajectory planning system needs to be developed to realize unmanned driving on the complex road conditions, so that obstacles in front of the automatic driving vehicle can be avoided. The conventional method is to plan a forward track of a vehicle in the forward direction according to information such as a global path track, sensed obstacle information, positioning information and the like, and when the forward direction cannot avoid an obstacle, the backward track of the reverse direction cannot be planned.
For example, patent CN20190015057.1 "decision system for automatically driving vehicle under complex working condition and trajectory planning method thereof", when the obstacle on the front side is too close to the automatically driving vehicle, the vehicle can only brake in front of the obstacle, and cannot automatically move backwards, although safety is ensured, the probability of success in obstacle avoidance is reduced.
Therefore, it is necessary to develop a trajectory planning system, method and storage medium for automatic driving and getting rid of difficulty of a vehicle.
Disclosure of Invention
In view of this, the present invention provides a trajectory planning system, a method and a storage medium for automatic driving and escaping of a vehicle, which are used to solve the technical problem that a backward trajectory planning in a reverse direction cannot be performed after a front obstacle forces to stop an automatic driving vehicle under a complex road condition.
In a first aspect, the invention provides a track planning system for automatic driving and escaping of a vehicle, which comprises a sensor module, a global path planning module, a positioning module, a vehicle information module, an information preprocessing module, a track planning module, a control module and an execution module, wherein the sensor module comprises a laser radar sensor, a millimeter wave sensor and an ultrasonic sensor and is used for detecting obstacle information in real time; the global path planning module generates a path from a starting point to a terminal point by capturing map information; the positioning module is used for calculating the position information of the vehicle in real time; the vehicle information module is used for collecting vehicle driving information, and the vehicle driving information comprises a vehicle speed, a steering wheel corner and a YawRate; the information preprocessing module is used for comprehensively analyzing and processing various information collected by the sensor module, the global path planning module, the positioning module and the vehicle information module to generate a vehicle passable area, a vehicle speed and a reference track; the track planning module plans a forward track according to the vehicle passable area, the vehicle speed and the reference track to obtain a forward optimal track, and judges the minimum curvature radius of the forward optimal track; if the minimum curvature radius of the forward optimal track is larger than the curvature radius A of a preset constraint condition, the control module controls the execution module to automatically run in the forward direction according to the forward optimal track to finish obstacle avoidance; otherwise, replanning the area where the vehicle can pass, the vehicle speed and the reference track to obtain a backward optimal track; and the control module controls the execution module to carry out backing operation according to the backward optimal track, meanwhile, the track planning module calculates the forward optimal track in real time, judges whether the minimum curvature radius of the forward optimal track is larger than the curvature radius A of a preset constraint condition or not, and controls the execution module to carry out parking operation and drive according to the forward optimal track to finish obstacle avoidance if the minimum curvature radius of the forward optimal track is larger than the curvature radius A of the constraint condition.
And the control module controls the execution mechanism to stop if the monitored reversing distance is greater than the preset maximum reversing distance B in the process of controlling the execution module to perform reversing operation according to the backward optimal track, the automatic driving system quits, and the human-computer interaction module sends prompt information to the driver to remind the driver to take over the vehicle manually.
Further, the prompt message comprises a voice prompt and a meter message display prompt.
Further, in the process that the control module controls the execution module to carry out the reversing operation according to the backward optimal track, if the monitored reversing distance is smaller than or equal to the preset maximum reversing distance B, the execution module continues to execute the reversing operation; meanwhile, the track planning module calculates a forward optimal track in real time, judges whether the minimum curvature radius of the forward optimal track is larger than the curvature radius A of a preset constraint condition or not, and controls the execution module to stop if the minimum curvature radius of the forward optimal track is larger than the curvature radius A of the constraint condition, so that the control module drives according to the forward optimal track to finish obstacle avoidance.
In a second aspect, the present invention further provides a trajectory planning method for vehicle automatic driving and getting rid of difficulty, including the following steps:
step 1, vehicle driving data in the automatic driving process of a vehicle are obtained, wherein the vehicle driving data comprise sensor information, global map information, positioning information, vehicle speed, steering wheel turning angle and YawRate;
and if the reversing distance is judged to be larger than the preset maximum reversing distance B, the execution module executes parking operation, the automatic driving system quits, and the human-computer interaction module sends prompt information to the driver to remind the driver to take over the vehicle manually.
In a third aspect, the invention provides a vehicle, and the vehicle is adopted to automatically drive and get rid of the trouble track planning system.
In a fourth aspect, the present invention further provides a storage medium storing computer-executable instructions, where the storage medium stores one or more programs, and the one or more programs are executable by one or more processors to implement the steps of the trajectory planning method for vehicle automatic driving and getting rid of difficulty.
The invention brings the following beneficial effects:
according to the trajectory planning system, the method and the storage medium for automatic driving and getting rid of difficulty of the vehicle, the backward trajectory planning in the reversing direction is newly added, so that the probability that the automatic driving vehicle is forced to stop under the complex road condition is effectively reduced, the adaptive capacity of the automatic driving system environment is improved, and the driving operation experience of a driver is improved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a schematic structural diagram of a trajectory planning system for automatic driving and getting rid of difficulty of a vehicle according to the present invention;
FIG. 2 is a logic flow diagram of a trajectory planning method for automatic driving and escaping of a vehicle according to the present invention;
in the figure: the system comprises a sensor module 1, a global path planning module 2, a positioning module 3, a vehicle information module 4, an information preprocessing module 5, a track planning module 6, a control module 7, an execution module 8 and a human-computer interaction module 9.
Detailed Description
As shown in fig. 1, a trajectory planning system for automatic driving and escaping of a vehicle includes a sensor module 1, a global path planning module 2, a positioning module 3, a vehicle information module 4, an information preprocessing module 5, a trajectory planning module 6, a control module 7, and an execution module 8, wherein the sensor module 1 includes a laser radar sensor, a millimeter wave sensor, and an ultrasonic sensor, and is used for detecting obstacle information in real time; the global path planning module 2 generates a path from a starting point to a destination point by capturing map information; the positioning module 3 is used for calculating the position information of the course angle of the vehicle in real time; the vehicle information module 4 is configured to collect vehicle driving information, where the vehicle driving information includes a vehicle speed, a steering wheel angle, and a yaw rate (YawRate); the information preprocessing module 5 is used for comprehensively analyzing and processing various information collected by the sensor module 1, the global path planning module 2, the positioning module 3 and the vehicle information module 4 to generate a vehicle passable area, a vehicle speed and a reference track; the track planning module 6 plans a forward track according to the vehicle passable area, the vehicle speed and the reference track to obtain a forward optimal track, and judges the minimum curvature radius of the forward optimal track.
If the minimum curvature radius of the forward optimal track is larger than the curvature radius A of the preset constraint condition, the control module 7 controls the execution module 8 to control the automatic driving of the vehicle through comprehensive algorithms such as steering control, longitudinal control, gear control and the like, namely the control module controls the execution module 8 to automatically drive in the forward direction according to the forward optimal track, and obstacle avoidance is completed. If the minimum curvature radius of the forward optimal trajectory is smaller than or equal to the curvature radius A of the preset constraint condition, the trajectory planning module 6 replans the vehicle passable area, the vehicle speed and the reference trajectory to obtain a backward optimal trajectory. The control module 7 controls the execution module 8 to perform the backing operation according to the backward optimal track, and simultaneously monitors whether the minimum curvature radius of the forward optimal track formed in the backing process is larger than the curvature radius A of the preset constraint condition or not in real time, if the minimum curvature radius of the forward optimal track formed in the backing process is monitored to be larger than the curvature radius A of the constraint condition, the control module controls the execution module to perform the parking operation, and performs automatic driving in the forward direction according to the forward optimal track formed in the backing process, so as to finish obstacle avoidance.
Further, as shown in fig. 1, the trajectory planning system for automatic driving and getting rid of difficulty of the vehicle further includes a human-computer interaction module 9, when the control module controls the execution module to perform a reversing operation according to the backward optimal trajectory, if the reversing distance is monitored to be too large and is greater than a preset maximum reversing distance B, the control module (7) controls the execution mechanism (8) to stop, the automatic driving system exits, and sends a prompt message to the driver through the human-computer interaction module (9) to remind the driver to take over the vehicle manually, wherein the prompt message includes but is not limited to sending a voice prompt to the driver or sending a message display prompt to the driver directly through a vehicle dashboard.
In this embodiment, if the control module 7 controls the execution module to perform the reversing operation according to the backward optimal trajectory, if it is monitored that the reversing distance is less than or equal to the preset maximum reversing distance B, the execution module continues to perform the reversing operation, and meanwhile, monitors whether the minimum curvature radius of the forward optimal trajectory formed in the reversing process is greater than the curvature radius a of the preset constraint condition in real time. If the minimum curvature radius of the forward optimal track formed in the process of backing is larger than the curvature radius A of the constraint condition, the control module controls the execution module to stop, and automatic driving in the forward direction is carried out according to the forward optimal track formed in the process of backing, so that obstacle avoidance is completed.
As shown in fig. 2, a trajectory planning method for automatic driving and getting rid of difficulty of a vehicle, which performs automatic obstacle avoidance operation on a complex road condition encountered by the vehicle in an automatic driving state, includes the following steps:
step 1, obtaining vehicle running data in the automatic driving process of a vehicle, wherein the vehicle running data comprises vehicle speed, steering wheel turning angle, yaw rate, perception information collected by a sensor module, map information captured by a global path planning module and information and course angle for positioning the vehicle in real time by a positioning module;
and if the reversing distance is judged to be larger than the preset maximum reversing distance B, the execution module executes parking operation, the automatic driving system quits, and the human-computer interaction module sends prompt information to the driver to remind the driver to take over the vehicle manually.
The storage medium storing computer-executable instructions of the present invention stores one or more programs executable by one or more processors to implement the steps of the trajectory planning method for vehicle automatic driving and getting rid of difficulty as described in the present invention.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Claims (7)
1. A trajectory planning system for automatic driving and escaping of vehicles is characterized by comprising a sensor module (1), a global path planning module (2), a positioning module (3), a vehicle information module (4), an information preprocessing module (5), a trajectory planning module (6), a control module (7) and an execution module (8), wherein,
the sensor module (1) comprises a laser radar sensor, a millimeter wave sensor and an ultrasonic sensor and is used for detecting barrier information in real time;
the global path planning module (2) is used for generating a path from a starting point to an end point by capturing map information;
the positioning module (3) is used for calculating the position information of the vehicle in real time;
the vehicle information module (4) is used for collecting vehicle driving information, and the vehicle driving information comprises a vehicle speed, a steering wheel corner and a YawRate;
the information preprocessing module (5) is used for comprehensively analyzing and processing various kinds of information collected by the sensor module (1), the global path planning module (2), the positioning module (3) and the vehicle information module (4) to generate a vehicle passable area, a vehicle speed and a reference track;
the track planning module (6) plans a forward track according to the vehicle passable area, the vehicle speed and the reference track to obtain a forward optimal track, and judges the minimum curvature radius of the forward optimal track;
if the minimum curvature radius of the forward optimal track is larger than the curvature radius A of a preset constraint condition, the control module (7) controls the execution module (8) to automatically run in the forward direction according to the forward optimal track to finish obstacle avoidance; otherwise, replanning the area where the vehicle can pass, the vehicle speed and the reference track to obtain a backward optimal track;
the control module (7) controls the execution module (8) to carry out reversing operation according to the backward optimal track, meanwhile, the track planning module (6) calculates the forward optimal track in real time, judges whether the minimum curvature radius of the forward optimal track is larger than the curvature radius A of a preset constraint condition or not, if the minimum curvature radius of the forward optimal track is larger than the curvature radius A of the constraint condition, the control module (7) controls the execution module (8) to carry out parking operation, and the vehicle travels according to the forward optimal track to finish obstacle avoidance.
2. The trajectory planning system for vehicle automatic driving and escaping from poverty according to claim 1, further comprising a human-computer interaction module (9), wherein in the process that the control module (7) controls the execution module (8) to perform backing operation according to the backward optimal trajectory, if the backing distance is monitored to be greater than a preset maximum backing distance B, the control module (7) controls the execution mechanism (8) to stop, the automatic driving system exits, and a prompt message is sent to a driver through the human-computer interaction module (9) to remind the driver to take over the vehicle manually.
3. The trajectory planning system for vehicle automatic driving for escaping from poverty according to claim 2, wherein the prompt message comprises an audio prompt and a meter message display prompt.
4. The trajectory planning system for vehicle automatic driving escape according to claim 1 or 2, characterized in that, in the process that the control module (7) controls the execution module to perform the reversing operation according to the backward optimal trajectory, if the monitored reversing distance is less than or equal to the preset maximum reversing distance B, the execution module (8) continues to perform the reversing operation; meanwhile, the track planning module (6) calculates a forward optimal track in real time, judges whether the minimum curvature radius of the forward optimal track is larger than the curvature radius A of a preset constraint condition or not, and controls the execution module (8) to stop if the minimum curvature radius of the forward optimal track is larger than the curvature radius A of the constraint condition, so that the vehicle runs according to the forward optimal track, and obstacle avoidance is completed.
5. A trajectory planning method for automatic driving and getting rid of difficulty of a vehicle is characterized by comprising the following steps:
step 1, vehicle driving data in the automatic driving process of a vehicle are obtained, wherein the vehicle driving data comprise sensor information, global map information, positioning information, vehicle speed, steering wheel turning angle and YawRate;
step 2, analyzing and processing the vehicle driving data to generate a vehicle passable area, a vehicle speed and a reference track;
step 3, planning a forward track according to the vehicle passable area, the vehicle speed and the reference track to obtain a forward optimal track, judging whether the minimum curvature radius of the forward optimal track is larger than the curvature radius A of a preset constraint condition, if so, executing step 4, and otherwise, executing step 5;
step 4, the control module controls the execution module to automatically drive in the forward direction according to the forward optimal track to finish obstacle avoidance;
step 5, planning the track again, generating a backward optimal track in the reversing direction, calculating the forward optimal track in real time, and judging whether the minimum curvature radius of the forward optimal track is larger than the curvature radius A of a preset constraint condition or not;
step 6, the control module controls the execution module according to the backward optimal track generated in the step 5, automatic backing of the vehicle is realized, and whether the backing distance is greater than a preset maximum backing distance B or not is judged;
step 7, if the reversing distance is judged to be smaller than or equal to the preset maximum reversing distance B, the execution module continues to execute the reversing operation, meanwhile, the forward optimal track is calculated in real time, whether the minimum curvature radius of the forward optimal track is larger than the curvature radius A of the preset constraint condition or not is judged, and if the minimum curvature radius of the forward optimal track is larger than the curvature radius A of the constraint condition, the control module controls the execution module to perform parking operation and drive according to the forward optimal track to finish obstacle avoidance;
and if the reversing distance is judged to be larger than the preset maximum reversing distance B, the execution module executes parking operation, the automatic driving system quits, and the human-computer interaction module sends prompt information to the driver to remind the driver to take over the vehicle manually.
6. A vehicle, characterized in that: a trajectory planning system for automated vehicle driving escape according to any one of claims 1 to 4.
7. A storage medium storing computer-executable instructions, the storage medium storing one or more programs executable by one or more processors to perform the steps of the method for trajectory planning for automatic vehicle driving escape as claimed in claim 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010402927.3A CN111703421A (en) | 2020-05-13 | 2020-05-13 | Trajectory planning system, method and storage medium for automatic driving and getting rid of difficulty of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010402927.3A CN111703421A (en) | 2020-05-13 | 2020-05-13 | Trajectory planning system, method and storage medium for automatic driving and getting rid of difficulty of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111703421A true CN111703421A (en) | 2020-09-25 |
Family
ID=72537807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010402927.3A Pending CN111703421A (en) | 2020-05-13 | 2020-05-13 | Trajectory planning system, method and storage medium for automatic driving and getting rid of difficulty of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111703421A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112549033A (en) * | 2020-12-15 | 2021-03-26 | 灵动科技（北京）有限公司 | Trajectory control method and device, robot and storage medium |
| CN113799795A (en) * | 2020-10-30 | 2021-12-17 | 北京京东乾石科技有限公司 | Unmanned vehicle control method, storage medium and electronic device |
| CN113885525A (en) * | 2021-10-30 | 2022-01-04 | 重庆长安汽车股份有限公司 | Path planning method and system for automatically driving vehicle to get rid of trouble, vehicle and storage medium |
| CN114363072A (en) * | 2022-01-07 | 2022-04-15 | 苏州挚途科技有限公司 | Method, device and system for intrusion detection |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1163005A (en) * | 1994-11-10 | 1997-10-22 | 株式会社小松制作所 | Guidance system for vehicle |
| CN102160006A (en) * | 2008-07-15 | 2011-08-17 | 空中侦察辨识和避免技术有限责任公司 | System and method for preventing a collis |
| CN106114503A (en) * | 2015-05-05 | 2016-11-16 | 沃尔沃汽车公司 | For the method and apparatus determining safety vehicle track |
| CN106598055A (en) * | 2017-01-19 | 2017-04-26 | 北京智行者科技有限公司 | Intelligent vehicle local path planning method, device thereof, and vehicle |
| CN109804223A (en) * | 2016-10-11 | 2019-05-24 | 御眼视觉技术有限公司 | Based on the barrier navigation vehicle detected |
| CN109976343A (en) * | 2019-03-26 | 2019-07-05 | 电子科技大学 | A kind of automatic obstacle avoidance method based on dynamic window method |
| CN110431057A (en) * | 2017-03-17 | 2019-11-08 | 马自达汽车株式会社 | Drive supporting control device |
-
2020
- 2020-05-13 CN CN202010402927.3A patent/CN111703421A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1163005A (en) * | 1994-11-10 | 1997-10-22 | 株式会社小松制作所 | Guidance system for vehicle |
| CN102160006A (en) * | 2008-07-15 | 2011-08-17 | 空中侦察辨识和避免技术有限责任公司 | System and method for preventing a collis |
| CN106114503A (en) * | 2015-05-05 | 2016-11-16 | 沃尔沃汽车公司 | For the method and apparatus determining safety vehicle track |
| CN109804223A (en) * | 2016-10-11 | 2019-05-24 | 御眼视觉技术有限公司 | Based on the barrier navigation vehicle detected |
| CN106598055A (en) * | 2017-01-19 | 2017-04-26 | 北京智行者科技有限公司 | Intelligent vehicle local path planning method, device thereof, and vehicle |
| CN110431057A (en) * | 2017-03-17 | 2019-11-08 | 马自达汽车株式会社 | Drive supporting control device |
| CN109976343A (en) * | 2019-03-26 | 2019-07-05 | 电子科技大学 | A kind of automatic obstacle avoidance method based on dynamic window method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799795A (en) * | 2020-10-30 | 2021-12-17 | 北京京东乾石科技有限公司 | Unmanned vehicle control method, storage medium and electronic device |
| CN113799795B (en) * | 2020-10-30 | 2023-08-04 | 北京京东乾石科技有限公司 | Unmanned vehicle control method, storage medium and electronic equipment |
| CN112549033A (en) * | 2020-12-15 | 2021-03-26 | 灵动科技（北京）有限公司 | Trajectory control method and device, robot and storage medium |
| CN113885525A (en) * | 2021-10-30 | 2022-01-04 | 重庆长安汽车股份有限公司 | Path planning method and system for automatically driving vehicle to get rid of trouble, vehicle and storage medium |
| CN114363072A (en) * | 2022-01-07 | 2022-04-15 | 苏州挚途科技有限公司 | Method, device and system for intrusion detection |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111703421A (en) | Trajectory planning system, method and storage medium for automatic driving and getting rid of difficulty of vehicle | |
| US11120688B2 (en) | Orientation-adjust actions for autonomous vehicle operational management | |
| US11267474B2 (en) | Vehicle control device, vehicle control method, and storage medium | |
| US9212926B2 (en) | In-vehicle path verification | |
| EP3699051A1 (en) | Vehicle control device | |
| CN109017785B (en) | Vehicle lane-changing driving method | |
| US9429946B2 (en) | Driving control system and dynamic decision control method thereof | |
| EP3699047A1 (en) | Vehicle control apparatus | |
| CN109002041B (en) | Vehicle obstacle avoidance method | |
| EP3699049A1 (en) | Vehicle control device | |
| EP2942687B1 (en) | Automated driving safety system | |
| CN109017788B (en) | Lane changing control method | |
| US20200331491A1 (en) | Autonomous Vehicle Operational Management Scenarios | |
| CN111469847B (en) | Lane change path planning method and system | |
| CN108983787B (en) | Road driving method | |
| CN109318899B (en) | Curve driving method, device, equipment and storage medium for automatic driving vehicle | |
| RU2745804C1 (en) | Method and processor for control of movement of autonomous vehicle in the traffic line | |
| CN113335312B (en) | Obstacle-detouring driving method and device, electronic equipment and medium | |
| CN113324554A (en) | Automatic driving route planning method and device, readable storage medium and electronic equipment | |
| US20240043034A1 (en) | Method and system for conditional operation of an autonomous agent | |
| WO2020246391A1 (en) | Vehicle travelling control apparatus, Vehicle travelling control method and Computer program product | |
| CN113504782B (en) | Obstacle collision prevention method, device and system and moving tool | |
| Weisswange et al. | Intelligent traffic flow assist: Optimized highway driving using conditional behavior prediction | |
| CN113788029B (en) | Vehicle control method, device and computer program product | |
| CN114103957A (en) | Lane changing control method, lane changing control device, electronic equipment and storage medium |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200925 |
|
| RJ01 | Rejection of invention patent application after publication |