CN112955358A - 轨迹生成 - Google Patents

轨迹生成 Download PDF

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Publication number
CN112955358A
CN112955358A CN201980071690.0A CN201980071690A CN112955358A CN 112955358 A CN112955358 A CN 112955358A CN 201980071690 A CN201980071690 A CN 201980071690A CN 112955358 A CN112955358 A CN 112955358A
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CN
China
Prior art keywords
trajectory
cost
vehicle
point
environment
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
Application number
CN201980071690.0A
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English (en)
Chinese (zh)
Inventor
A·K·阿克拉
J·胡德塞克
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.)
Zoox Inc
Original Assignee
Zoox Inc
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
Priority claimed from US16/179,711 external-priority patent/US11208096B2/en
Priority claimed from US16/179,679 external-priority patent/US11048260B2/en
Application filed by Zoox Inc filed Critical Zoox Inc
Publication of CN112955358A publication Critical patent/CN112955358A/zh
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—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
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
    • 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
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0021—Planning or execution of driving tasks specially adapted for travel time
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
CN201980071690.0A 2018-11-02 2019-10-30 轨迹生成 Pending CN112955358A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US16/179,711 US11208096B2 (en) 2018-11-02 2018-11-02 Cost scaling in trajectory generation
US16/179,679 2018-11-02
US16/179,679 US11048260B2 (en) 2018-11-02 2018-11-02 Adaptive scaling in trajectory generation
US16/179,711 2018-11-02
PCT/US2019/058760 WO2020092500A1 (en) 2018-11-02 2019-10-30 Trajectory generation

Publications (1)

Publication Number Publication Date
CN112955358A true CN112955358A (zh) 2021-06-11

Family

ID=68610352

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980071690.0A Pending CN112955358A (zh) 2018-11-02 2019-10-30 轨迹生成

Country Status (4)

Country Link
EP (1) EP3873783A1 (https=)
JP (1) JP7411653B2 (https=)
CN (1) CN112955358A (https=)
WO (1) WO2020092500A1 (https=)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113401141A (zh) * 2021-07-12 2021-09-17 北京百度网讯科技有限公司 路线处理方法及装置
CN114228710A (zh) * 2021-12-27 2022-03-25 浙江大学 基于虚拟边界的二维智能驾驶模型的车辆轨迹预测方法
CN115170609A (zh) * 2022-06-29 2022-10-11 北京市商汤科技开发有限公司 轨迹处理方法和装置、介质和计算机设备
CN115698637A (zh) * 2020-06-15 2023-02-03 埃尔构人工智能有限责任公司 执行关于自动驾驶车辆的演进参考路径的轨迹间重新线性化的方法和系统
WO2023010877A1 (zh) * 2021-08-04 2023-02-09 北京三快在线科技有限公司 无人驾驶设备的路径规划
CN116009556A (zh) * 2023-01-20 2023-04-25 阿波罗智联(北京)科技有限公司 场景生成方法、装置及电子设备
CN116817949A (zh) * 2023-06-07 2023-09-29 东软睿驰汽车技术（上海）有限公司 路径规划方法、装置、电子设备及存储介质
CN117104270A (zh) * 2023-09-04 2023-11-24 电子科技大学长三角研究院(衢州) 一种基于规则辅助强化学习的自动驾驶决策方法
CN117341724A (zh) * 2022-06-29 2024-01-05 比亚迪股份有限公司 车辆行驶轨迹规划方法、存储介质、电子设备及车辆
CN118046917A (zh) * 2022-11-09 2024-05-17 北京三快在线科技有限公司 轨迹修正方法以及自动驾驶车辆

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US11458991B2 (en) * 2020-06-29 2022-10-04 Woven Planet North America, Inc Systems and methods for optimizing trajectory planner based on human driving behaviors
CN112193239B (zh) * 2020-08-27 2022-01-18 武汉乐庭软件技术有限公司 自动泊车控制系统中的轨迹计算方法、设备及存储设备
EP3960562A1 (en) * 2020-08-31 2022-03-02 Aptiv Technologies Limited Methods and systems for path planning
CN112146667B (zh) * 2020-09-29 2022-10-14 广州小鹏自动驾驶科技有限公司 一种车辆过渡轨迹的生成方法和装置
CN112405537B (zh) * 2020-11-11 2022-07-12 配天机器人技术有限公司 一种机器人空间轨迹插补方法及机器人
CN114708723B (zh) * 2020-12-16 2023-07-21 华为技术有限公司 轨迹预测方法和装置
WO2022132713A1 (en) * 2020-12-16 2022-06-23 Zoox, Inc. Lateral safety area
CN112810630B (zh) * 2021-02-05 2022-03-04 山东大学 一种自动驾驶车辆轨迹规划方法及系统
CN113074734B (zh) * 2021-03-23 2023-05-30 北京三快在线科技有限公司 一种轨迹规划方法、装置、存储介质及电子设备
US20220371613A1 (en) * 2021-05-21 2022-11-24 Zoox, Inc. Vehicle trajectory determination
CN113479199B (zh) * 2021-07-30 2022-08-30 三一专用汽车有限责任公司 开放区域避障方法、车辆和计算机可读存储介质
CN114153204B (zh) * 2021-11-09 2024-03-08 北京三快在线科技有限公司 一种行驶轨迹的修复方法及修复装置
CN114954524A (zh) * 2022-05-24 2022-08-30 深圳优地科技有限公司 车辆转向控制方法、装置、终端设备和存储介质
US12304476B2 (en) * 2022-09-02 2025-05-20 Ford Global Technologies, Llc Systems and methods for deweighting veering margins based on crossing time
JP2024042454A (ja) * 2022-09-15 2024-03-28 三菱重工業株式会社 経路設定方法、プログラム及び移動体
CN119027773A (zh) * 2024-10-23 2024-11-26 深圳市智绘科技有限公司 路径生成方法、装置、电子设备及存储介质

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JP4873047B2 (ja) * 2009-05-28 2012-02-08 トヨタ自動車株式会社 走行制御装置
US9120485B1 (en) * 2012-09-14 2015-09-01 Google Inc. Methods and systems for smooth trajectory generation for a self-driving vehicle
DE102013214225A1 (de) * 2013-07-19 2015-01-22 Bayerische Motoren Werke Aktiengesellschaft Dynamische Neuplanung einer Fahrtrajektorie mittels LQ-Regelung für einen Ausweichassistenten
US9405293B2 (en) * 2014-05-30 2016-08-02 Nissan North America, Inc Vehicle trajectory optimization for autonomous vehicles
US9821801B2 (en) * 2015-06-29 2017-11-21 Mitsubishi Electric Research Laboratories, Inc. System and method for controlling semi-autonomous vehicles
DE102016222782A1 (de) * 2016-11-18 2018-05-24 Audi Ag Autonomes Steuern eines Kraftfahrzeugs anhand von Spurdaten; Kraftfahrzeug

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115698637B (zh) * 2020-06-15 2024-05-14 福特全球技术公司 执行关于自动驾驶车辆的演进参考路径的轨迹间重新线性化的方法和系统
CN115698637A (zh) * 2020-06-15 2023-02-03 埃尔构人工智能有限责任公司 执行关于自动驾驶车辆的演进参考路径的轨迹间重新线性化的方法和系统
US12443191B2 (en) 2020-06-15 2025-10-14 Ford Global Technologies, Llc Methods and systems for performing inter-trajectory re-linearization about an evolving reference path for an autonomous vehicle
CN113401141B (zh) * 2021-07-12 2022-07-29 北京百度网讯科技有限公司 路线处理方法及装置
US12122369B2 (en) 2021-07-12 2024-10-22 Beijing Baidu Netcom Science Technology Co., Ltd. Route processing method and apparatus
CN113401141A (zh) * 2021-07-12 2021-09-17 北京百度网讯科技有限公司 路线处理方法及装置
WO2023010877A1 (zh) * 2021-08-04 2023-02-09 北京三快在线科技有限公司 无人驾驶设备的路径规划
CN114228710A (zh) * 2021-12-27 2022-03-25 浙江大学 基于虚拟边界的二维智能驾驶模型的车辆轨迹预测方法
CN114228710B (zh) * 2021-12-27 2024-02-20 浙江大学 基于虚拟边界的二维智能驾驶模型的车辆轨迹预测方法
CN115170609A (zh) * 2022-06-29 2022-10-11 北京市商汤科技开发有限公司 轨迹处理方法和装置、介质和计算机设备
CN117341724A (zh) * 2022-06-29 2024-01-05 比亚迪股份有限公司 车辆行驶轨迹规划方法、存储介质、电子设备及车辆
CN118046917A (zh) * 2022-11-09 2024-05-17 北京三快在线科技有限公司 轨迹修正方法以及自动驾驶车辆
CN116009556A (zh) * 2023-01-20 2023-04-25 阿波罗智联(北京)科技有限公司 场景生成方法、装置及电子设备
CN116817949A (zh) * 2023-06-07 2023-09-29 东软睿驰汽车技术（上海）有限公司 路径规划方法、装置、电子设备及存储介质
CN117104270A (zh) * 2023-09-04 2023-11-24 电子科技大学长三角研究院(衢州) 一种基于规则辅助强化学习的自动驾驶决策方法
CN117104270B (zh) * 2023-09-04 2024-08-27 电子科技大学长三角研究院(衢州) 一种基于规则辅助强化学习的自动驾驶决策方法

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Publication number Publication date
WO2020092500A1 (en) 2020-05-07
EP3873783A1 (en) 2021-09-08
JP2022506475A (ja) 2022-01-17
JP7411653B2 (ja) 2024-01-11

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