CN112020014A - Lane change track planning method, device, server and storage medium - Google Patents

Lane change track planning method, device, server and storage medium Download PDF

Info

Publication number
CN112020014A
CN112020014A CN202010859701.6A CN202010859701A CN112020014A CN 112020014 A CN112020014 A CN 112020014A CN 202010859701 A CN202010859701 A CN 202010859701A CN 112020014 A CN112020014 A CN 112020014A
Authority
CN
China
Prior art keywords
information
track
driving
waypoint
vehicle
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.)
Granted
Application number
CN202010859701.6A
Other languages
Chinese (zh)
Other versions
CN112020014B (en
Inventor
刘洋
尚秉旭
陈志新
王洪峰
张勇
李宇寂
王迪
许朝文
何柳
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.)
FAW Group Corp
Original Assignee
FAW Group Corp
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 FAW Group Corp filed Critical FAW Group Corp
Priority to CN202010859701.6A priority Critical patent/CN112020014B/en
Publication of CN112020014A publication Critical patent/CN112020014A/en
Application granted granted Critical
Publication of CN112020014B publication Critical patent/CN112020014B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—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
    • B60W40/02—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
    • B60W40/06—Road 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Abstract

The embodiment of the invention discloses a lane change track planning method, a device, a server and a storage medium, which are used for acquiring global waypoint information of a driving vehicle and environment perception information of surrounding vehicles, generating a local reference track of the driving vehicle according to the global waypoint information, determining whether to generate lane change decision information before generating a lane change track, and generating the lane change track based on the local reference track and the environment perception information if the lane change decision information is generated. By the mode, the method is simple and effective for practical engineering application and real vehicle tests, and can meet the real-time requirement of the system. If the lane change plan fails, an alternative track can be generated for controlling the driving vehicle to decelerate or keeping the following state.

Description

Lane change track planning method, device, server and storage medium
Technical Field
The embodiment of the invention relates to a vehicle technology, in particular to a method, a device, a server and a storage medium for planning a track change track.
Background
In recent years, the attention of automatic driving technology has increased, and intelligent automobiles become a hot spot for research in the fields of automobile service and transportation. Compared with human drivers, the intelligent driving system can remarkably improve the driving safety and the road circulation due to the strong perception and the rapid processing capability of the intelligent driving system. The lane change is a common driving behavior, the generation of the lane change track is a premise for finishing the lane change behavior, and the quality of the lane change track determines the comfort of the intelligent automobile in the lane change process.
At present, for the track planning of intelligent automobile lane changing, a numerical optimization-based method is generally adopted, and the specific method is to construct obstacle constraint, starting and ending point constraint, boundary constraint and an objective function and to set up the optimal smooth track of the automobile lane changing according to the objective function. However, the method essentially belongs to a high-dimensional optimization problem of a plurality of nonlinear constraints, a large amount of resources are needed to find a solution, the possibility of planning failure exists, and in the aspect of intelligent automobile application, system timeout also exists and the real-time requirement is not met.
Therefore, in the prior art, the track planning process of automobile lane changing is complex and the real-time performance is poor.
Disclosure of Invention
The embodiment of the invention provides a method, a device, a server and a storage medium for planning a track change track, which are used for simplifying the track change track planning process and improving the instantaneity of the track change track planning.
In a first aspect, an embodiment of the present invention provides a method for planning a track change track, including:
acquiring global waypoint information of a driving vehicle and environment perception information of surrounding vehicles, wherein the global waypoint information at least comprises longitude and latitude information and course information of each waypoint, and the environment perception information at least comprises obstacle information and road information;
generating a local reference track of the driving vehicle according to the global waypoint information, wherein the local reference track comprises at least one of waypoint position information, waypoint curvature information, waypoint expected heading and track length of a driving lane where the driving vehicle is located;
and if the lane changing decision information of the driving vehicle is generated, generating a lane changing track based on the local reference track and the environment perception information.
In a second aspect, an embodiment of the present invention further provides a lane change trajectory planning apparatus, including:
the system comprises an information acquisition module, a route selection module and a route selection module, wherein the information acquisition module is used for acquiring global waypoint information of a driving vehicle and environment perception information of surrounding vehicles, the global waypoint information at least comprises longitude and latitude information and course information of each waypoint, and the environment perception information at least comprises obstacle information and road information;
the local reference track generating module is used for generating a local reference track of the driving vehicle according to the global waypoint information, wherein the local reference track comprises at least one of waypoint position information, waypoint curvature information, waypoint expected course and track length of a driving lane where the driving vehicle is located;
and the track changing track generating module is used for generating a track changing track based on the local reference track and the environment perception information if track changing decision information of the driving vehicle is generated.
In a third aspect, an embodiment of the present invention further provides a server, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor, when executing the computer program, implements the lane change trajectory planning method according to any one of the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor implement the lane change trajectory planning method according to any one of the first aspect.
According to the technical scheme provided by the embodiment, the global waypoint information of the driving vehicle and the environment perception information of the surrounding vehicles are obtained, the local reference track of the driving vehicle is generated according to the global waypoint information, whether the track change decision information is generated or not is determined before the track change track is generated, and if the track change decision information is generated, the track change track is generated based on the local reference track and the environment perception information. By the mode, the method is simple and effective for practical engineering application and real vehicle tests, and can meet the real-time requirement of the system.
Drawings
Fig. 1 is a schematic flowchart of a lane change trajectory planning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a lane change trajectory generated according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a trajectory plan according to an embodiment of the present invention;
fig. 4 is a logic diagram of a method for generating a track-change track according to an embodiment of the invention;
fig. 5 is a schematic block diagram of a method for generating a track-change track according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a lane change trajectory planning apparatus according to a second embodiment of the present invention;
fig. 7 is a schematic structural diagram of a server according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic flow chart of a lane change trajectory planning method according to an embodiment of the present invention, which is applicable to a situation where a driving vehicle automatically generates a lane change trajectory in a situation where the driving vehicle automatically drives, and the method may be executed by a lane change trajectory planning apparatus, where the apparatus may be implemented by software and/or hardware, and is generally integrated in a driving vehicle or a server. Referring specifically to fig. 1, the method may include the steps of:
s110, acquiring global waypoint information of a driving vehicle and environment perception information of surrounding vehicles.
The global waypoint information at least comprises longitude and latitude information and course information of each waypoint, and the environment perception information at least comprises obstacle information and road information. Alternatively, both the environmental awareness information and the global waypoint information may be obtained by sensors mounted on the driven vehicle. It is understood that the latitude and longitude information may be position information of the driving vehicle on the driving lane, and the heading information may be a driving direction of the driving vehicle on the driving lane; the obstacle information may include information on the number of surrounding vehicles, the traveling speed, traveling direction, and the like of each of the surrounding vehicles, and the road information may include traveling lanes of the surrounding vehicles.
And S120, generating a local reference track of the driving vehicle according to the global waypoint information.
The local reference track comprises at least one of the position information of the road point of the driving lane, the curvature information of the road point, the expected heading of the road point and the track length.
It can be understood that the global waypoint information and the environment perception information received by the server are generally sparse, the server can interpolate the global waypoint information and the environment perception information before processing the global waypoint information and the environment perception information, generate a local reference track according to the interpolated waypoint information, and perform subsequent planning operation of track changing according to the interpolated environment perception information. It should be noted that the interpolation method in this embodiment may be linear interpolation, lagrange interpolation, polynomial interpolation, or bezier multiplication interpolation.
Optionally, the method for determining location information of a waypoint includes: and inputting the global waypoint information into a Bezier factorial equation to obtain the waypoint position information. Specifically, the expression of the bessel factorial equation is:
Figure BDA0002647654210000051
Figure BDA0002647654210000052
wherein, [ X ]bsr，Ybsr]Is the coordinate information of each waypoint after interpolation, [ x, y ]]The coordinate information of each waypoint before interpolation, k is the number of interpolation points, n is the dimension of a linear distance vector, the dimension can be the number of global waypoints of one-time interpolation, and is determined by the path length L to be interpolated in the global waypoints, the path length L to be interpolated is generally in direct proportion to the vehicle speed v, and the expression of the path length L to be interpolated and the vehicle speed v is as follows:
L＝Lmin+ α v formula (3)
Wherein L isminIs a preset minimum planning length, and alpha is a proportional coefficient.
By the method, the interpolated road point position information can be obtained.
Alternatively, the determination formula of the waypoint curvature information may be:
Figure BDA0002647654210000053
where X is the abscissa of each interpolated waypoint (i.e., X)bsr) And Y is the ordinate of each interpolated waypoint (i.e., Y)bsr) X ', x "are the first and second derivatives, respectively, of the interpolated abscissa for each waypoint, and y', y" are the first and second derivatives, respectively, of the interpolated ordinate for each waypoint.
It can be understood that the bezier curve belongs to an average pass-through curve, so that the interpolated waypoints themselves have a continuous and smooth characteristic, and the curvature smoothing algorithm at the waypoint connection adopts the following linear curvature smoothing formula:
Figure BDA0002647654210000054
wherein, k'iIs the smoothed curvature data, κiFor raw curvature data,. kappasAnd kappafPath curvatures, x, representing respectively a start position and an end position on a smooth road sectionsAnd xfRespectively representing a start position and an end position, x, on a smooth road sectioniRepresenting the current location.
It is understood that, after the curvature data obtained according to the formula (5), the derivative of the curvature data can be calculated, and the derivative of the curvature data is taken as the expected heading tangent value of the curve at t ', and the calculation formula of the expected heading tangent value of the curve at t' is:
Figure BDA0002647654210000061
wherein t' is a waypoint, x is the abscissa of each waypoint after interpolation, y is the ordinate of each waypoint after interpolation, and the waypoint desired heading is determined by the formula (6) from the smoothed waypoint curve determined by the formula (5).
Alternatively, all the waypoints of the determined travel lane may be connected in sequence, and the track length may be calculated from the coordinate information of each waypoint.
S130, if lane changing decision information for driving the vehicle is generated, a lane changing track is generated based on the local reference track and the environment perception information.
Optionally, whether to generate the lane change decision information may be determined according to the environment perception information and the global waypoint information. Specifically, it is possible to determine information such as a traveling speed and a traveling direction of the surrounding vehicle from the environment sensing information, determine information such as a traveling speed and a traveling direction of the driving vehicle from the global waypoint information, and determine whether to generate the decision information from the traveling speed and the traveling direction of the surrounding vehicle and the traveling speed and the traveling direction of the driving vehicle. For example, if the surrounding vehicle is a preceding vehicle, and the preceding vehicle is decelerating, the driving vehicle is not suitable for lane change; if the surrounding vehicle is a left-hand vehicle and the coordinate vehicle is closer to the driving vehicle, the driving vehicle is not suitable for lane changing.
Optionally, the method for generating the lane change track includes: determining local road point data of a driving vehicle on a driving lane according to the local reference track, and acquiring central line point data of adjacent lanes of the driving lane according to the environment perception information; and generating the lane change track based on the local road point data, the central road point data and the driving information of the driven vehicle. It can be understood that the server may determine the waypoint data of each waypoint according to the local reference trajectory, and determine the center waypoint information of the adjacent lanes according to the waypoint position information in the environment perception information.
Optionally, a specific method for generating the lane change trajectory includes: intercepting a first driving road section on the local reference track according to the local road point data and the driving information; intercepting a second driving road section on the central line of the adjacent lane according to the central line point data and the driving information; calculating the transitional driving section by taking the end point of the first driving section as the starting point of the transitional driving section, taking the starting point of the second driving section as the end point of the transitional driving section and adopting a three-order Bezier curve based on the starting point of the transitional driving section and the end point of the transitional driving section; sequentially connecting the first driving road section, the transition driving road section and the second driving road section to obtain the lane changing track; the local road point data is determined by converting a Gaussian plane rectangular coordinate system into a vehicle coordinate system.
It will be appreciated that the obstacle information and the road information are typically determined based on a vehicle coordinate system, and the global waypoint information is determined based on a gaussian planar rectangular coordinate system, which is first converted to the vehicle coordinate system in order to intercept a path of a certain length, in which vehicle heading information is always 90 °, and the current position of the driven vehicle is at the origin of the vehicle coordinate system. Specifically, the coordinate data of the local road point data of the driven vehicle in the gaussian plane rectangular coordinate system is (x)v，yv，tv) The coordinate transformation formula is:
Figure BDA0002647654210000071
wherein x 'and y' are respectively the horizontal coordinate and the vertical coordinate after conversion, that is, x 'and y' are the position coordinates of the local road point data in the vehicle coordinate system, tvIs the heading, x, of the vehicle at the current momentvAnd yvRespectively are the abscissa and ordinate of the vehicle in the current gaussian coordinate system.
Specifically, a specific process for generating the lane change trajectory is explained with reference to fig. 2:
the first step is as follows: determining a local reference path for driving the vehicle according to the local road point data and the driving information;
the second step is that: in a local reference path [ X ]ref，Yref]Upper cut length of L1The road point sequence of (1) is used as a first section of the lane change track, namely a first driving section, the terminal point of the first driving section is used as the starting point of a transition driving section (a second section of the lane change track), the position coordinate of the point is extracted and is marked as [ x [ ]0，y0，t0]；
The third step: according to the number of central linesBased on the running information, the central line [ X ] of adjacent laneadj，Yadj]Find the starting point L of the adjacent lane2The path point of the length, and the position coordinate of the point is extracted and is marked as [ x ]T，yT，tT]Will the waypoint [ xT，yT，tT]As an end point of a transient driving section and based on the waypoint [ x ]T，yT，tT]Intercepting a third section of the lane change track, namely a second driving road section, on the central line of the adjacent lane;
the fourth step: at the end of the first travel route [ x ]0，y0，t0]As the starting point of the transition travel section, the starting point [ x ] of the second travel section is usedT，yT，tT]As the end point of the transient travel section, the transient travel section is calculated using a third-order bezier curve based on the start point of the transient travel section and the end point of the transient travel section.
Optionally, the parameterized expression of the third order bezier curve is:
P(t)＝P0(1-t)3+3P1(1-t)2t+3P2(1-t)t2+P3t3，t∈[0，1]formula (8)
Wherein, P0＝[x0，y0]Is the starting point of the first travel section, P1＝[x0-d1sint0，y0+d1cost0]，d1＝k1(yT-y0) Is the starting point of the transitional driving section, P2＝[xT+d2sintT，yT-d2costT]，d2＝k2(yT-y0) Is the end point of the transitional driving section, the end point P of the curve3＝[xT，yT]Is the end point of the second driving section, k1、k2Is a calibration value, can control the shape of the generated track, and can generally set k1Is 0.1, k2Is 0.4. The track generated by the Bezier curve has the characteristic of continuous curvature, so that the continuous track-changing track can be quickly generated, and the requirement of the bottom track following is metThe real-time performance of the tracking control is required.
It should be noted that if there is no obstacle in the simple lane-changing condition, i.e. before driving the vehicle in the lane, the parameter L is set1And L2The value of (a) is related to the speed of the vehicle; under the working condition of avoiding obstacles and changing lanes, namely, an obstacle exists in front of a driving vehicle of the lane, and the parameter L1And L2The value of (b) is related to the distance, position and size of the obstacle in front, in addition to the aforementioned information, and generally, L2The value of (a) should be less than the longitudinal distance between the driving vehicle and the obstacle of the lane, so that the driving vehicle can be prevented from colliding with the obstacle in front in the lane changing process.
Alternatively, after determining the path point sequence of the local reference trajectory and the adjacent lane line, the distance between any two points on the local reference trajectory and the adjacent lane line may be calculated based on the euclidean distance. Optionally, the expression of euclidean distance is:
(x1-x2)2+(y1-y2)2＝d2formula (9)
Thus, a sequence of path points [ X ] on the local reference pathref，Yref]And a sequence of path points [ X ] on the center line of the adjacent laneadj，Yadj]Once determined, the route point sequence [ X ] on the local reference path is usedref，Yref]Or a sequence of path points [ X ] on the center line of adjacent lanesadj，Yadj]The starting point of (2) is used as the path origin, the distance between each waypoint and the starting point in the waypoint sequence on the local reference path can be obtained by the formula d (i), i belongs to N+. When the parameter L1And L2Determining the closest point of the local reference track and the fixed length of the path to be intercepted on the adjacent reference line by the following formula, and obtaining more number in the driving process at the same time of determining the local reference track, wherein the closest point sequence value k is determinedmin：
Figure BDA0002647654210000091
It is understood that the foregoing steps are the case of generating a lane change trajectory when generating lane change decision information. With reference to fig. 3, if the lane change decision information is not generated, the method further includes: and sending the local reference track to an engine of the driving vehicle so that the engine controls the running state of the driving vehicle according to the local reference track. That is, if the lane change decision information is not generated, the driven vehicle is not allowed to change lanes, and the driven vehicle travels according to the local reference trajectory in fig. 3.
Optionally, if the lane change decision information is generated and the lane change track is not generated, the method further includes: generating an alternative track according to the local reference track, the running information of the driving vehicle and the running information of a front running vehicle closest to the driving vehicle; and sending the candidate track to an engine of a driving vehicle to enable the engine to control the driving state of the vehicle according to the candidate track, wherein the length of the candidate track is smaller than the longitudinal distance between the driving vehicle and a front driving vehicle closest to the driving vehicle.
Specifically, the server may determine a general traveling direction from the local reference trajectory, determine a traveling speed of the driven vehicle from the traveling information of the driven vehicle, and determine a traveling speed of the preceding vehicle from the traveling information of the preceding vehicle that is closest to the driven vehicle, and may calculate longitudinal distances of the driven vehicle and the preceding vehicle over different time periods from a difference in the traveling speeds of the driven vehicle, and take a path that is smaller than the longitudinal distance as an alternative trajectory of the driven vehicle. Alternatively, the longitudinal distance of the driven vehicle from the preceding vehicle over different time periods may be calculated from the euclidean distance.
Fig. 4 is a logic diagram of the method for generating a lane change track, and fig. 5 is a block diagram of the method for generating a lane change track, which is specifically explained with reference to fig. 4 and 5. Firstly, acquiring environment perception information through an environment perception module and acquiring global waypoint information through a global planning module, fusing the environment perception information through the environment perception module, fusing the global waypoint information through the global planning module, and simultaneously determining whether to generate lane change decision information or not according to the environment perception information and the global waypoint information through a decision module; the local planning module performs interpolation processing on the fused global waypoint information according to a Bessel interpolation method, and performs curvature calculation and course calculation; if the channel changing decision information is generated, the local planning module generates a planning local reference track according to the global waypoint information after interpolation, and adopts a Bezier curve to plan a channel changing track according to the global waypoint information after interpolation, the environment perception information and the channel changing decision information; if the lane change decision information is generated, but a local planning module does not successfully generate a lane change track or overtime, generating an alternative track according to the local reference track, the driving information of the driving vehicle and the driving information of the front driving vehicle closest to the driving vehicle; if the lane change decision information is not generated, directly outputting a local reference track; and further, outputting the local reference track, the lane changing track or the alternative track to a track tracking module, and controlling the running state of the driving vehicle through the track tracking module.
According to the technical scheme provided by the embodiment, the global waypoint information of the driving vehicle and the environment perception information of the surrounding vehicles are obtained, the local reference track of the driving vehicle is generated according to the global waypoint information, whether the track change decision information is generated or not is determined before the track change track is generated, and if the track change decision information is generated, the track change track is generated based on the local reference track and the environment perception information. By the mode, for practical engineering application and real vehicle tests, the method is simple and effective, the real-time requirement of the system can be met, and if lane change planning fails, an alternative track can be generated and used for controlling the driving vehicle to decelerate or keeping the following state.
Example two
Fig. 6 is a schematic structural diagram of a lane change trajectory planning apparatus according to a second embodiment of the present invention. Referring to fig. 6, the apparatus includes: an information acquisition module 210, a local reference trajectory generation module 220, and a lane change trajectory generation module 230.
The information acquiring module 210 is configured to acquire global waypoint information of a driving vehicle and environment perception information of surrounding vehicles, where the global waypoint information at least includes longitude and latitude information and heading information of each waypoint, and the environment perception information at least includes obstacle information and road information;
a local reference track generation module 220, configured to generate a local reference track of a driving vehicle according to the global waypoint information, where the local reference track includes at least one of waypoint position information, waypoint curvature information, a waypoint expected heading, and a track length of a driving lane where the driving vehicle is located;
a track-changing track generating module 230, configured to generate a track-changing track based on the local reference track and the environmental awareness information if track-changing decision information of the driving vehicle is generated.
On the basis of the above technical solutions, the lane change trajectory generation module 230 is further configured to determine local road point data of a driving vehicle on a driving lane according to the local reference trajectory, and obtain central road point data of an adjacent lane of the driving lane according to the environment sensing information;
and generating the lane change track based on the local road point data, the central road point data and the driving information of the driven vehicle.
On the basis of the above technical solutions, the track-changing track generation module 230 is further configured to intercept a first driving road segment on the local reference track according to the local road point data and the driving information;
intercepting a second driving road section on the central line of the adjacent lane according to the central line point data and the driving information;
calculating the transitional driving section by taking the end point of the first driving section as the starting point of the transitional driving section, taking the starting point of the second driving section as the end point of the transitional driving section and adopting a three-order Bezier curve based on the starting point of the transitional driving section and the end point of the transitional driving section;
sequentially connecting the first driving road section, the transition driving road section and the second driving road section to obtain the lane changing track;
the local road point data is determined by converting a Gaussian plane rectangular coordinate system into a vehicle coordinate system.
On the basis of the above technical solutions, the local reference trajectory generation module 220 is further configured to input the global waypoint information to a bezier factorial equation to obtain the waypoint position information.
On the basis of the technical schemes, a decision information determining module is generated by switching channels; the channel change decision information generation module is used for determining whether to generate the channel change decision information according to the environment perception information and the global waypoint information.
On the basis of the above technical solutions, the apparatus further includes: a local reference track sending module; and the local reference track sending module is used for sending the local reference track to an engine of a driving vehicle if the lane change decision information is not generated, so that the engine controls the running state of the driving vehicle according to the local reference track.
On the basis of the above technical solutions, the apparatus further includes: an alternative track generating and sending module; the candidate track generating and sending module is used for generating a candidate track according to the local reference track, the running information of the driving vehicle and the running information of the front running vehicle closest to the driving vehicle;
and sending the candidate track to an engine of a driving vehicle to enable the engine to control the driving state of the vehicle according to the candidate track, wherein the length of the candidate track is smaller than the longitudinal distance between the driving vehicle and a front driving vehicle closest to the driving vehicle.
According to the technical scheme provided by the embodiment, the global waypoint information of the driving vehicle and the environment perception information of the surrounding vehicles are obtained, the local reference track of the driving vehicle is generated according to the global waypoint information, whether the track change decision information is generated or not is determined before the track change track is generated, and if the track change decision information is generated, the track change track is generated based on the local reference track and the environment perception information. By the mode, for practical engineering application and real vehicle tests, the method is simple and effective, the real-time requirement of the system can be met, and if lane change planning fails, an alternative track can be generated and used for controlling the driving vehicle to decelerate or keeping the following state.
EXAMPLE III
Fig. 7 is a schematic structural diagram of a server according to a third embodiment of the present invention. FIG. 7 illustrates a block diagram of an exemplary server 12 suitable for use in implementing embodiments of the present invention. The server 12 shown in fig. 7 is only an example, and should not bring any limitation to the function and the scope of use of the embodiment of the present invention.
As shown in FIG. 7, the server 12 is in the form of a general purpose computing device. The components of the server 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
The server 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by server 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The server 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, and commonly referred to as a "hard drive"). Although not shown in FIG. 7, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set of program modules (e.g., information acquisition module 210, local reference trajectory generation module 220, and lane change trajectory generation module 230 of a lane change trajectory planning device) configured to perform the functions of embodiments of the present invention.
A program/utility 44 having a set of program modules 46 (e.g., information acquisition module 210, local reference trajectory generation module 220, and lane change trajectory generation module 230 of a lane change trajectory planner), such program modules 46 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, may be stored, for example, in memory 28, each of which or some combination thereof may comprise an implementation of a network environment. Program modules 46 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The server 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with the server 12, and/or with any devices (e.g., network card, modem, etc.) that enable the server 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the server 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown, the network adapter 20 communicates with the other modules of the server 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the server 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, to implement a method for planning a track change track according to an embodiment of the present invention, which includes:
acquiring global waypoint information of a driving vehicle and environment perception information of surrounding vehicles, wherein the global waypoint information at least comprises longitude and latitude information and course information of each waypoint, and the environment perception information at least comprises obstacle information and road information;
generating a local reference track of the driving vehicle according to the global waypoint information, wherein the local reference track comprises at least one of waypoint position information, waypoint curvature information, waypoint expected heading and track length of a driving lane where the driving vehicle is located;
and if the lane changing decision information of the driving vehicle is generated, generating a lane changing track based on the local reference track and the environment perception information.
The processing unit 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, to implement a lane change trajectory planning method provided by an embodiment of the present invention.
Of course, those skilled in the art can understand that the processor may also implement the technical solution of the lane change trajectory planning method provided in any embodiment of the present invention.
Example four
The fourth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for planning a track change track according to the fourth embodiment of the present invention, where the method includes:
acquiring global waypoint information of a driving vehicle and environment perception information of surrounding vehicles, wherein the global waypoint information at least comprises longitude and latitude information and course information of each waypoint, and the environment perception information at least comprises obstacle information and road information;
generating a local reference track of the driving vehicle according to the global waypoint information, wherein the local reference track comprises at least one of waypoint position information, waypoint curvature information, waypoint expected heading and track length of a driving lane where the driving vehicle is located;
and if the lane changing decision information of the driving vehicle is generated, generating a lane changing track based on the local reference track and the environment perception information.
Of course, the computer program stored on the computer-readable storage medium provided in the embodiments of the present invention is not limited to the above method operations, and may also perform related operations in a lane change trajectory planning method provided in any embodiment of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device.
A computer readable signal medium may include global waypoint information, context aware information, local reference tracks, lane change tracks, etc. carrying computer readable program code embodied therein. The propagated global waypoint information, environment perception information, local reference track, lane-changing track and the like. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It should be noted that, in the embodiment of the lane change trajectory planning apparatus, the modules included in the embodiment are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A method for planning a track change track, comprising:
acquiring global waypoint information of a driving vehicle and environment perception information of surrounding vehicles, wherein the global waypoint information at least comprises longitude and latitude information and course information of each waypoint, and the environment perception information at least comprises obstacle information and road information;
generating a local reference track of the driving vehicle according to the global waypoint information, wherein the local reference track comprises at least one of waypoint position information, waypoint curvature information, waypoint expected heading and track length of a driving lane where the driving vehicle is located;
and if the lane changing decision information of the driving vehicle is generated, generating a lane changing track based on the local reference track and the environment perception information.
2. The method of claim 1, wherein generating a lane-change trajectory based on the local reference trajectory and the environmental awareness information comprises:
determining local road point data of a driving vehicle on a driving lane according to the local reference track, and acquiring central line point data of adjacent lanes of the driving lane according to the environment perception information;
and generating the lane change track based on the local road point data, the central road point data and the driving information of the driven vehicle.
3. The method of claim 2, wherein generating the lane change trajectory based on the local waypoint data, the central waypoint data, and driving information of a driven vehicle comprises:
intercepting a first driving road section on the local reference track according to the local road point data and the driving information;
intercepting a second driving road section on the central line of the adjacent lane according to the central line point data and the driving information;
calculating the transitional driving section by taking the end point of the first driving section as the starting point of the transitional driving section, taking the starting point of the second driving section as the end point of the transitional driving section and adopting a three-order Bezier curve based on the starting point of the transitional driving section and the end point of the transitional driving section;
sequentially connecting the first driving road section, the transition driving road section and the second driving road section to obtain the lane changing track;
the local road point data is determined by converting a Gaussian plane rectangular coordinate system into a vehicle coordinate system.
4. The method of claim 1, wherein generating waypoint location information from the global waypoint information comprises:
and inputting the global waypoint information into a Bezier factorial equation to obtain the waypoint position information.
5. The method of claim 1, wherein prior to the generating a re-track trajectory based on the local reference trajectory and the environmental awareness information, the method further comprises:
and determining whether to generate the channel change decision information according to the environment perception information and the global waypoint information.
6. The method of claim 1, wherein if the lane change decision information is not generated, the method further comprises:
and sending the local reference track to an engine of the driving vehicle so that the engine controls the running state of the driving vehicle according to the local reference track.
7. The method of claim 1, wherein if the lane change decision information is generated and the lane change trajectory is not generated, the method further comprises:
generating an alternative track according to the local reference track, the running information of the driving vehicle and the running information of a front running vehicle closest to the driving vehicle;
and sending the candidate track to an engine of a driving vehicle to enable the engine to control the driving state of the vehicle according to the candidate track, wherein the length of the candidate track is smaller than the longitudinal distance between the driving vehicle and a front driving vehicle closest to the driving vehicle.
8. A lane change trajectory planning device, comprising:
the system comprises an information acquisition module, a route selection module and a route selection module, wherein the information acquisition module is used for acquiring global waypoint information of a driving vehicle and environment perception information of surrounding vehicles, the global waypoint information at least comprises longitude and latitude information and course information of each waypoint, and the environment perception information at least comprises obstacle information and road information;
the local reference track generating module is used for generating a local reference track of the driving vehicle according to the global waypoint information, wherein the local reference track comprises at least one of waypoint position information, waypoint curvature information, waypoint expected course and track length of a driving lane where the driving vehicle is located;
and the track changing track generating module is used for generating a track changing track based on the local reference track and the environment perception information if track changing decision information of the driving vehicle is generated.
9. A server comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of trajectory planning according to any of claims 1-7 when executing the computer program.
10. A storage medium containing computer-executable instructions which, when executed by a computer processor, implement the method of trajectory planning as claimed in any one of claims 1 to 7.
CN202010859701.6A 2020-08-24 2020-08-24 Lane change track planning method, device, server and storage medium Active CN112020014B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010859701.6A CN112020014B (en) 2020-08-24 2020-08-24 Lane change track planning method, device, server and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010859701.6A CN112020014B (en) 2020-08-24 2020-08-24 Lane change track planning method, device, server and storage medium

Publications (2)

Publication Number Publication Date
CN112020014A true CN112020014A (en) 2020-12-01
CN112020014B CN112020014B (en) 2022-08-19

Family

ID=73505743

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010859701.6A Active CN112020014B (en) 2020-08-24 2020-08-24 Lane change track planning method, device, server and storage medium

Country Status (1)

Country Link
CN (1) CN112020014B (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112146667A (en) * 2020-09-29 2020-12-29 广州小鹏自动驾驶科技有限公司 Method and device for generating vehicle transition track
CN113091765A (en) * 2021-03-31 2021-07-09 深圳一清创新科技有限公司 Road characterization method, method for presenting road information and electronic equipment
CN113212443A (en) * 2021-06-23 2021-08-06 上海西井信息科技有限公司 Automatic driving-based path generation method, device, equipment and storage medium
CN113335276A (en) * 2021-07-20 2021-09-03 中国第一汽车股份有限公司 Obstacle trajectory prediction method, obstacle trajectory prediction device, electronic device, and storage medium
CN113561992A (en) * 2021-07-30 2021-10-29 广州文远知行科技有限公司 Method, device, terminal device and medium for generating trajectory of automatic driving vehicle
CN113911136A (en) * 2021-09-29 2022-01-11 广州文远知行科技有限公司 Driverless vehicle lane change decision-making method, driverless vehicle lane change decision-making system, driverless vehicle lane change decision-making equipment and driverless vehicle lane change decision-making medium
WO2022152986A1 (en) * 2021-01-18 2022-07-21 Psa Automobiles Sa Method and device for monitoring the trajectory of a vehicle traveling on a traffic lane
CN115571164A (en) * 2022-11-03 2023-01-06 中科天极(新疆)空天信息有限公司 Obstacle avoidance method and system based on automatic driving
CN115657684A (en) * 2022-12-08 2023-01-31 禾多科技（北京）有限公司 Vehicle path information generation method, device, equipment and computer readable medium
CN116048087A (en) * 2023-02-10 2023-05-02 吉咖智能机器人有限公司 Local path planning method and device, electronic equipment and readable storage medium
CN116576873A (en) * 2023-05-04 2023-08-11 杭州知汇云科技有限公司 Service information providing method and system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150204687A1 (en) * 2014-01-22 2015-07-23 Electronics And Telecommunications Research Institute Apparatus and method of guiding lane change based on augmented reality
US20170364083A1 (en) * 2016-06-21 2017-12-21 Baidu Online Network Technology (Beijing) Co., Ltd. Local trajectory planning method and apparatus for smart vehicles
CN110244713A (en) * 2019-05-22 2019-09-17 江苏大学 A kind of intelligent vehicle lane-change Trajectory Planning System and method based on Artificial Potential Field Method
US20190359202A1 (en) * 2018-05-23 2019-11-28 Baidu Usa Llc Method for determining lane changing trajectories for autonomous driving vehicles
CN111123952A (en) * 2019-12-31 2020-05-08 华为技术有限公司 Trajectory planning method and device
CN111289008A (en) * 2020-04-28 2020-06-16 南京维思科汽车科技有限公司 Local path planning algorithm for unmanned vehicle
CN111413990A (en) * 2020-05-07 2020-07-14 吉林大学 Lane change track planning system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150204687A1 (en) * 2014-01-22 2015-07-23 Electronics And Telecommunications Research Institute Apparatus and method of guiding lane change based on augmented reality
US20170364083A1 (en) * 2016-06-21 2017-12-21 Baidu Online Network Technology (Beijing) Co., Ltd. Local trajectory planning method and apparatus for smart vehicles
US20190359202A1 (en) * 2018-05-23 2019-11-28 Baidu Usa Llc Method for determining lane changing trajectories for autonomous driving vehicles
CN110244713A (en) * 2019-05-22 2019-09-17 江苏大学 A kind of intelligent vehicle lane-change Trajectory Planning System and method based on Artificial Potential Field Method
CN111123952A (en) * 2019-12-31 2020-05-08 华为技术有限公司 Trajectory planning method and device
CN111289008A (en) * 2020-04-28 2020-06-16 南京维思科汽车科技有限公司 Local path planning algorithm for unmanned vehicle
CN111413990A (en) * 2020-05-07 2020-07-14 吉林大学 Lane change track planning system

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
HEONG-TAE KIM: "Lane confidence assessment and lane change decision for lane-level localization", 《2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014)》 *
刘洋: "智能车辆高速公路自动变道轨迹规划与控制研究", 《中国优秀硕士学位论文全文数据库》 *
黄辉: "自动驾驶车辆主动换道轨迹规划方法研究", 《汽车文摘》 *

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112146667A (en) * 2020-09-29 2020-12-29 广州小鹏自动驾驶科技有限公司 Method and device for generating vehicle transition track
WO2022152986A1 (en) * 2021-01-18 2022-07-21 Psa Automobiles Sa Method and device for monitoring the trajectory of a vehicle traveling on a traffic lane
FR3118929A1 (en) * 2021-01-18 2022-07-22 Psa Automobiles Sa Method and device for following the trajectory of a vehicle traveling on a traffic lane
CN113091765A (en) * 2021-03-31 2021-07-09 深圳一清创新科技有限公司 Road characterization method, method for presenting road information and electronic equipment
CN113212443A (en) * 2021-06-23 2021-08-06 上海西井信息科技有限公司 Automatic driving-based path generation method, device, equipment and storage medium
CN113335276A (en) * 2021-07-20 2021-09-03 中国第一汽车股份有限公司 Obstacle trajectory prediction method, obstacle trajectory prediction device, electronic device, and storage medium
CN113561992A (en) * 2021-07-30 2021-10-29 广州文远知行科技有限公司 Method, device, terminal device and medium for generating trajectory of automatic driving vehicle
CN113561992B (en) * 2021-07-30 2023-10-20 广州文远知行科技有限公司 Automatic driving vehicle track generation method, device, terminal equipment and medium
CN113911136A (en) * 2021-09-29 2022-01-11 广州文远知行科技有限公司 Driverless vehicle lane change decision-making method, driverless vehicle lane change decision-making system, driverless vehicle lane change decision-making equipment and driverless vehicle lane change decision-making medium
CN115571164A (en) * 2022-11-03 2023-01-06 中科天极(新疆)空天信息有限公司 Obstacle avoidance method and system based on automatic driving
CN115657684A (en) * 2022-12-08 2023-01-31 禾多科技（北京）有限公司 Vehicle path information generation method, device, equipment and computer readable medium
CN116048087A (en) * 2023-02-10 2023-05-02 吉咖智能机器人有限公司 Local path planning method and device, electronic equipment and readable storage medium
CN116048087B (en) * 2023-02-10 2024-04-09 吉咖智能机器人有限公司 Local path planning method and device, electronic equipment and readable storage medium
CN116576873A (en) * 2023-05-04 2023-08-11 杭州知汇云科技有限公司 Service information providing method and system
CN116576873B (en) * 2023-05-04 2024-02-13 好品易链(山东)科技发展有限公司 Service information providing method and system

Also Published As

Publication number Publication date
CN112020014B (en) 2022-08-19

Similar Documents

Publication Publication Date Title
CN112020014B (en) Lane change track planning method, device, server and storage medium
EP3517893B1 (en) Path and speed optimization fallback mechanism for autonomous vehicles
CN112068545B (en) Method and system for planning running track of unmanned vehicle at crossroad and storage medium
US11320836B2 (en) Algorithm and infrastructure for robust and efficient vehicle localization
US20220107647A1 (en) Speed planning method and apparatus, electronic device and storage medium
KR102395283B1 (en) Apparatus for controlling automatic driving, system having the same and method thereof
US20200269873A1 (en) Method and apparatus for planning speed of autonomous vehicle, and storage medium
US10816990B2 (en) Non-blocking boundary for autonomous vehicle planning
US10429849B2 (en) Non-linear reference line optimization method using piecewise quintic polynomial spiral paths for operating autonomous driving vehicles
CN111797780B (en) Vehicle following track planning method, device, server and storage medium
US20200003564A1 (en) Reference line smoothing method using piecewise spiral curves with weighted geometry costs
US10816985B2 (en) Method on moving obstacle representation for trajectory planning
CN109799828B (en) Transverse and longitudinal coordination control method for automatic driving vehicle
CN111830979A (en) Trajectory optimization method and device
CN111738207A (en) Lane line detection method and device, electronic device and readable storage medium
CN113335276A (en) Obstacle trajectory prediction method, obstacle trajectory prediction device, electronic device, and storage medium
CN114475781B (en) Vehicle control method, device, equipment and storage medium
CN113537362A (en) Perception fusion method, device, equipment and medium based on vehicle-road cooperation
CN107831496B (en) Method and system for intelligent automobile to automatically acquire front speed
CN111862604A (en) Unmanned vehicle control method and device, computer storage medium and electronic equipment
WO2022001708A1 (en) Vehicle control method and apparatus, vehicle, and storage medium
CN112009460B (en) Vehicle control method, device, equipment and storage medium
Daniel et al. Navigation-based constrained trajectory generation for advanced driver assistance systems
WO2023071959A1 (en) Obstacle avoidance method and apparatus, electronic device and storage medium
CN111857148A (en) Unstructured road vehicle path planning method

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