CN116409314A

CN116409314A - Track planning method, track planning device, vehicle, electronic equipment and readable storage medium

Info

Publication number: CN116409314A
Application number: CN202211698613.8A
Authority: CN
Inventors: 骆俊凯; 李洁辰
Original assignee: Shanghai Rox Intelligent Technology Co Ltd
Current assignee: Shanghai Rox Intelligent Technology Co Ltd
Priority date: 2022-12-28
Filing date: 2022-12-28
Publication date: 2023-07-11

Abstract

The application provides a track planning method, a track planning device, a vehicle, electronic equipment and a readable storage medium, wherein the method comprises the following steps: acquiring vehicle state information, wherein the vehicle state information comprises a vehicle position, a course angle, a vehicle speed and a vehicle acceleration in a vehicle coordinate system, a first displacement, a first speed and a first acceleration in a first direction in a Frenet coordinate system, and a second displacement, a second speed and a second acceleration in a second direction in the Frenet coordinate system; according to the vehicle state information, track planning is respectively carried out on the first direction and the second direction under the Frenet coordinate system, and a first track corresponding to the first direction and a second track corresponding to the second direction are obtained; combining the first track and the second track to obtain a third track; and converting the third track from the Frenet coordinate system to the Cartesian coordinate system to obtain the target track. Therefore, the target track needs to consider constraint of centripetal acceleration, so that the track curvature characteristic can be contained, and the comfort is effectively improved.

Description

Track planning method, track planning device, vehicle, electronic equipment and readable storage medium

Technical Field

The application belongs to the technical field of vehicles, and particularly relates to a track planning method, a track planning device, a vehicle, electronic equipment and a readable storage medium.

Background

Trajectory planning is an important component of the automatic driving technology, and plays an important role in safety and comfort. Most of the current track planning methods do not consider the constraint of road curvature (namely centripetal acceleration), so that the planned track is poor in comfort.

Disclosure of Invention

The embodiment of the application provides a track planning method, a track planning device, a vehicle, electronic equipment and a readable storage medium, so as to improve the comfort of track planning.

In a first aspect, an embodiment of the present application provides a track planning method, including:

acquiring vehicle state information, wherein the vehicle state information comprises a vehicle position, a course angle, a vehicle speed and a vehicle acceleration in a vehicle coordinate system, a first displacement, a first speed and a first acceleration in a first direction in a Frenet coordinate system, and a second displacement, a second speed and a second acceleration in a second direction in the Frenet coordinate system;

according to the vehicle state information, track planning is respectively carried out on the first direction and the second direction under the Frenet coordinate system, and a first track corresponding to the first direction and a second track corresponding to the second direction are obtained;

combining the first track and the second track to obtain a third track;

and converting the third track from the Frenet coordinate system to the Cartesian coordinate system to obtain the target track.

In a second aspect, an embodiment of the present application provides a trajectory planning device, including:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring vehicle state information, and the vehicle state information comprises a vehicle position, a course angle, a vehicle speed and a vehicle acceleration in a vehicle coordinate system, a first displacement, a first speed and a first acceleration in a first direction in a Frenet coordinate system, and a second displacement, a second speed and a second acceleration in a second direction in the Frenet coordinate system;

the planning module is used for respectively carrying out track planning on the first direction and the second direction under the Frenet coordinate system according to the vehicle state information to obtain a first track corresponding to the first direction and a second track corresponding to the second direction;

the merging module is used for merging the first track and the second track to obtain a third track;

and the conversion module is used for converting the third track from the Frenet coordinate system to the Cartesian coordinate system to obtain the target track.

In a third aspect, embodiments of the present application provide a vehicle comprising a track planning device, wherein the track planning device is configured to implement a method as in the first aspect.

In a fourth aspect, an embodiment of the present application provides an electronic device, including:

a processor and a memory storing a program or instructions;

the processor, when executing the program or instructions, implements the methods described above.

In a fifth aspect, embodiments of the present application provide a machine-readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the above-described method.

In a sixth aspect, embodiments of the present application provide a computer program product, instructions in which, when executed by a processor of an electronic device, cause the electronic device to perform the above-described method.

The track planning method, the track planning device, the vehicle, the electronic equipment and the readable storage medium can acquire vehicle state information, wherein the vehicle state information comprises a vehicle position, a course angle, a vehicle speed and a vehicle acceleration in a vehicle coordinate system, a first displacement, a first speed and a first acceleration in a first direction in a Frenet coordinate system, and a second displacement, a second speed and a second acceleration in a second direction in the Frenet coordinate system; according to the vehicle state information, track planning is respectively carried out on the first direction and the second direction under the Frenet coordinate system, and a first track corresponding to the first direction and a second track corresponding to the second direction are obtained; combining the first track and the second track to obtain a third track; and converting the third track from the Frenet coordinate system to the Cartesian coordinate system to obtain the target track. Therefore, the target track needs to consider constraint of centripetal acceleration, so that the track curvature characteristic can be contained, and the comfort is effectively improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.

FIG. 1 is a flow chart of a trajectory planning method provided in one embodiment of the present application;

fig. 2 is a schematic view of a scenario of a trajectory planning method provided in an embodiment of the present application;

FIG. 3a is a fourth schematic diagram of simulation experiment verification in the trajectory planning method according to the embodiment of the present application;

FIG. 3b is a schematic curvature of the fourth trajectory of FIG. 3 a;

FIG. 3c is a schematic view of a tangential included angle of the fourth track of FIG. 3 a;

FIG. 4a is a velocity profile result of the cruise control scenario of the fourth track of FIGS. 3 a-3 c;

FIG. 4b is an acceleration profile result of the cruise control scenario of the fourth trajectory of FIGS. 3 a-3 c;

FIG. 4c is a graph showing the acceleration rate of change of the fourth trajectory of FIGS. 3 a-3 c for a cruise control scene;

FIG. 5a is a velocity profile result of the following cruise scenario of the fourth track of FIGS. 3 a-3 c;

FIG. 5b is an acceleration profile result of the following cruise scenario of the fourth track of FIGS. 3 a-3 c;

FIG. 5c is a plot of acceleration rate of the fourth trajectory of FIGS. 3 a-3 c for a following cruise scenario;

FIG. 6a is a velocity profile result of the fixed point parking scenario of the fourth track of FIGS. 3 a-3 c;

FIG. 6b is an acceleration profile result of the fixed point parking scenario of the fourth track of FIGS. 3 a-3 c;

FIG. 6c is a plot of acceleration rate of the fourth trajectory of FIG. 3 a-3 c;

FIG. 7 is a schematic diagram of a track planning apparatus according to another embodiment of the present application;

fig. 8 is a schematic structural diagram of an electronic device according to another embodiment of the present application.

Detailed Description

Features and exemplary embodiments of various aspects of the present application are described in detail below to make the objects, technical solutions and advantages of the present application more apparent, and to further describe the present application in conjunction with the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the application and are not intended to be limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by showing examples of the present application.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

In order to solve the problems in the prior art, embodiments of the present application provide a track planning method, a track planning device, a vehicle, an electronic device, and a readable storage medium. The track planning method provided in the embodiment of the present application is first described below.

Fig. 1 is a schematic flow chart of a track planning method according to an embodiment of the present application. As shown in fig. 1, the trajectory planning method may include:

step 101, acquiring vehicle state information, wherein the vehicle state information comprises a vehicle position, a course angle, a vehicle speed and a vehicle acceleration in a vehicle coordinate system, wherein the first displacement, the first speed and the first acceleration in a first direction in a Frenet coordinate system, and the second displacement, the second speed and the second acceleration in a second direction in the Frenet coordinate system.

In step 101, referring to fig. 2, vehicle state information may be acquired, which may include two dimensions, one being a vehicle position (x, y), a heading angle (θ), a vehicle speed (v), and a vehicle acceleration (a) in a vehicle coordinate system, and the other being a first displacement(s), a first speed, in a first direction in a Frenet coordinate system

And a first acceleration->

And a second displacement (d) in a second direction, a second speed +.>

And a second acceleration->

The first direction may be a direction extending along the road, and the second direction may be a direction perpendicular to the road.

And 102, respectively planning tracks in a first direction and a second direction under a Frenet coordinate system according to vehicle state information to obtain a first track corresponding to the first direction and a second track corresponding to the second direction.

In step 102, referring to fig. 2, according to the vehicle state information, in a Frenet coordinate system, track planning may be performed on the first direction and the second direction based on time, so as to obtain a first track corresponding to the first direction and a second track corresponding to the second direction.

And 103, combining the first track and the second track to obtain a third track.

In step 103, the first track and the second track may be combined to obtain a combined third track.

And 104, converting the third track from the Frenet coordinate system to the Cartesian coordinate system to obtain a target track.

In step 104, referring to fig. 2, the third track may be converted from the Frenet coordinate system to the cartesian coordinate system to obtain the target track. So that the target trajectory may directly contain the road curvature features.

In the embodiment of the application, the track planning method can acquire vehicle state information, wherein the vehicle state information comprises a vehicle position, a course angle, a vehicle speed and a vehicle acceleration in a vehicle coordinate system, and the first displacement, the first speed and the first acceleration in a first direction in a Frenet coordinate system, and the second displacement, the second speed and the second acceleration in a second direction in the Frenet coordinate system; according to the vehicle state information, track planning is respectively carried out on the first direction and the second direction under the Frenet coordinate system, and a first track corresponding to the first direction and a second track corresponding to the second direction are obtained; combining the first track and the second track to obtain a third track; and converting the third track from the Frenet coordinate system to the Cartesian coordinate system to obtain the target track. Therefore, the target track needs to consider constraint of centripetal acceleration, so that the track curvature characteristic can be contained, and the comfort is effectively improved.

In some embodiments, the step 102 may include:

planning a first track point in a first direction and a second track point in a second direction based on time under a Frenet coordinate system according to vehicle state information;

the method comprises the steps of segmenting a first track point, determining a plurality of sections of first curves and optimal curve tangent angles of each section of first curves, segmenting a second track point, and determining a plurality of sections of second curves and optimal curve tangent angles of each section of second curves;

determining the optimal curvature of each section of the first curve based on the optimal curve tangent angle of each section of the first curve, and determining the optimal curvature of each section of the second curve based on the optimal curve tangent angle of each section of the second curve;

and connecting a plurality of sections of first curves based on the optimal curvature of each section of first curve to obtain a first track corresponding to the first direction, and connecting a plurality of sections of second curves based on the optimal curvature of each section of second curve to obtain a second track corresponding to the second direction.

In this embodiment, according to the vehicle state information, a first track point in a first direction and a second track point in a second direction may be planned based on time in a Frenet coordinate system, where the first track point in the first direction may be

The second track point of the second direction may be +.>

It is understood that the processing method for generating the first track and the second track is consistent during the subsequent processing, and based on this, the generation of the first track will be described below as an example.

The first track points can be segmented, multiple sections of first curves and optimal curve tangent angles of each section of first curves are determined, then the optimal curvature of each section of first curves is determined based on the optimal curve tangent angles of each section of first curves, and then the multiple sections of first curves are connected based on the optimal curvature of each section of first curves to obtain the first track corresponding to the first direction. For example, the track point segmentation connection process can be based on polynomial spiral curve track segmentation and using a five-degree polynomial, as shown in the following formula:

wherein θ is a curve tangential angle;

for curvature k->

For rate of curvature change->

For example, a formula may be utilized

Solving the coefficients of the fifth polynomial to obtain the optimal curve tangent angle of each section of the first curve, and then utilizing the formula +.>

Calculating an optimal curvature of each segment of the first curve, wherein c _j Is a polynomial coefficient. And connecting the multiple sections of the first curves based on the optimal curvature of each section of the first curve to obtain a first track corresponding to the first direction.

Similarly, the second track points can be segmented, multiple sections of second curves and optimal curve tangent angles of each section of second curve are determined, then the optimal curvature of each section of second curve is determined based on the optimal curve tangent angles of each section of second curve, and then the multiple sections of second curves are connected based on the optimal curvature of each section of second curve, so that a second track corresponding to the second direction is obtained. The first track generating step may be referred to specifically, and will not be described herein.

In some embodiments, connecting the multiple segments of the first curve based on the optimal curvature of each segment of the first curve to obtain a first track corresponding to the first direction, and connecting the multiple segments of the second curve based on the optimal curvature of each segment of the second curve to obtain a second track corresponding to the second direction may include:

connecting a plurality of sections of first curves based on the optimal curvature of each section of first curve to obtain a first initial track corresponding to a first direction, and connecting a plurality of sections of second curves based on the optimal curvature of each section of second curve to obtain a second initial track corresponding to a second direction;

discretizing the first initial track and the second initial track based on time respectively;

and smoothing the discretized first initial track and the discretized second initial track respectively to obtain a first track corresponding to the first direction and a second track corresponding to the second direction.

In this embodiment, in order to further ensure comfort, the generated trajectory may be discretized and then smoothed. It will be appreciated that the discretization and smoothing process is consistent for the first track and the second track, and based on this, the generation of the first track will be described below as an example.

For example, based on the optimal curvature of each section of the first curve, connecting multiple sections of the first curves to obtain a first initial track corresponding to the first direction, discretizing the first initial track based on time, and smoothing the discretized first initial track to obtain the first track corresponding to the first direction.

For example, discretizing the first initial trajectory based on time, respectively, may be represented by the following formula:

wherein s is a first displacement in a first direction,

for a first speed in a first direction, < >>

Is a first acceleration in a first direction.

And smoothing the discretized first initial track to obtain a first track corresponding to the first direction. For example, the first initial track may be smoothed by using an existing smoothing algorithm, and for the purpose of smoothing more accurately, the first initial track may be divided into a plurality of sections of curves, each section of curve is smoothed, and the smoothed curves are combined to obtain the smoothed first track.

Similarly, based on the optimal curvature of each section of the second curve, connecting multiple sections of the second curves to obtain a second initial track corresponding to the second direction, discretizing the second initial track based on time, and smoothing the discretized second initial track to obtain a second track corresponding to the second direction. See the above-mentioned step of smoothing the first initial track, which is not described herein.

In some embodiments, smoothing the discretized first initial track and the discretized second initial track to obtain a first track corresponding to the first direction and a second track corresponding to the second direction may include:

establishing a segmented track optimization cost equation and a segmented track connection point constraint equation based on time;

and respectively carrying out smoothing treatment on the first initial track and the second initial track after discretization according to the piecewise track optimization cost equation and the piecewise track connection point constraint equation to obtain a first track corresponding to the first direction and a second track corresponding to the second direction.

In this embodiment, the smoothing process may be to establish a piecewise track optimization cost equation and a piecewise track connection point constraint equation based on time, and perform smoothing process on the discretized first initial track and the discretized second initial track according to the piecewise track optimization cost equation and the piecewise track connection point constraint equation, so as to obtain a first track corresponding to the first direction and a second track corresponding to the second direction.

In some embodiments, the piecewise trajectory optimization cost equation may be:

wherein,,

acceleration weight along tangential track direction in the first direction or the second direction +.>

Acceleration change rate weight along the tangential track direction in the first direction or the second direction, +.>

Curvature weight for the first direction or the second direction, +.>

For the first direction or the second direction along the tangential track speed deviation weight, +.>

For a speed in the first direction or in the second direction, < >>

Acceleration in the first direction or in the second direction, +.>

The acceleration change rate in the first direction or the second direction is given, and t is time;

the segment trajectory junction constraint equation may be:

wherein,,

for a speed in the first direction or in the second direction, < >>

Acceleration in the first direction or in the second direction, +.>

The acceleration change rate in the first direction or the second direction is delta t, the discretization time interval is delta t, and i is the sequence number after segmentation.

It can be understood that, for the first initial track corresponding to the first direction and the second initial track corresponding to the second direction, the above-mentioned piecewise track optimization cost equation and piecewise track connection point constraint equation can be adopted to perform smoothing processing after discretization, so as to optimize the first initial track and the second initial track and generate a first track and a second track with higher comfortableness. In addition, a sectional planning mode is adopted, the high-dimensional optimization problem can be reduced to two-section low-dimensional optimization problem, and the optimization difficulty is reduced.

In some embodiments, the step 104 may include:

converting the third track from the Frenet coordinate system to a Cartesian coordinate system to obtain a fourth track;

performing experimental verification on the fourth track;

in the case where the experimental verification passes, the fourth track is determined as the target track.

In this embodiment, the combined third trajectory is converted from the Frenet coordinate system to the Cartesian coordinate system, and a fourth trajectory is obtained. The fourth track may be verified by simulation experiments.

By way of example, the scenario of the simulation experiment may be: the U-turn path of 108 ° and the turning radius 10m, and the fourth track are shown in fig. 3a to 3 c. The vehicle motion state of the simulation experiment can be the initial vehicle speed of 15m/s, the reference vehicle speed is set to be 20m/s, and the vehicle dynamics performance parameters are set as shown in the following table:

	min	max
			speed of speed	0	30
Acceleration of	-4	2
			Rate of acceleration change	-4	4
Centripetal acceleration	-2	2

Based on the scenes and the vehicle motion state, simulation experiments of scenes such as constant-speed cruising, vehicle-following cruising, fixed-point parking and the like are respectively carried out.

For a constant speed cruise scenario, the vehicle speed at the start is set to 15m/s, the target cruise speed is set to 20m/s, and the test results are shown in fig. 4a to 4 c.

For the following cruise scene, the speed of the front vehicle is set to be 3m/s, the safety distance is set to be 5m, and the test results are shown in fig. 5a to 5 c.

For a fixed-point parking scene, the speed of the vehicle at the starting point is set to be 15m/s, the target cruising speed is set to be 20m/s, the vehicle is stopped at the end point, and the test results are shown in fig. 6a to 6 c.

And analyzing the test result to prove that in the scenes of constant-speed cruising, vehicle-following cruising and fixed-point stopping, the speed curve, the acceleration curve and the acceleration change rate curve of the fourth track all meet constraint conditions. From this, it is known that the experimental verification of the fourth track passes, and at this time, the fourth track can be determined as the target track.

Based on the track planning method provided by the embodiment, the application also provides an embodiment of a track planning device.

Fig. 7 is a schematic structural diagram of a trajectory planning device according to another embodiment of the present application, and for convenience of explanation, only a portion related to the embodiment of the present application is shown.

Referring to fig. 7, the trajectory planning device 700 includes:

an obtaining module 701, configured to obtain vehicle state information, where the vehicle state information includes a vehicle position, a heading angle, a vehicle speed, and a vehicle acceleration in a vehicle coordinate system, a first displacement, a first speed, and a first acceleration in a first direction in a Frenet coordinate system, and a second displacement, a second speed, and a second acceleration in a second direction in the Frenet coordinate system;

the planning module 702 is configured to plan a track in a first direction and a second direction under a Frenet coordinate system according to vehicle state information, so as to obtain a first track corresponding to the first direction and a second track corresponding to the second direction;

a merging module 703, configured to merge the first track and the second track to obtain a third track;

the conversion module 704 is configured to convert the third track from the Frenet coordinate system to the cartesian coordinate system, to obtain the target track.

In some embodiments, the planning module 702 may also be used to:

and connecting a plurality of sections of first curves based on the optimal curvature of each section of first curve to obtain a first track corresponding to the first direction, and connecting a plurality of sections of second curves based on the optimal curvature of each section of second curve to obtain a second track corresponding to the second direction. .

In some embodiments, the planning module 702 may also be used to:

wherein,,

Is the acceleration change rate weight along the tangential track direction in the first direction or the second direction, and (2)>

Curvature weight for the first direction or the second direction, +.>

For a speed in the first direction or in the second direction, < >>

Acceleration in the first direction or in the second direction, +.>

the segment trajectory junction constraint equation may be:

wherein,,

for a speed in the first direction or in the second direction, < >>

Acceleration in the first direction or in the second direction, +.>

In some embodiments, the conversion module 704 may also be configured to:

performing experimental verification on the fourth track;

It should be noted that, based on the same conception as the embodiment of the method of the present application, the information interaction and the execution process between the above devices/units are devices corresponding to the track planning method, and all the implementation manners in the above method embodiment are applicable to the embodiment of the device, and specific functions and technical effects thereof may be referred to the method embodiment section, and are not repeated herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

Fig. 8 shows a schematic hardware structure of an electronic device according to another embodiment of the present application.

The device may include a processor 801 and a memory 802 storing programs or instructions.

The steps of any of the various method embodiments described above are implemented when the processor 801 executes a program.

For example, a program may be partitioned into one or more modules/units, which are stored in the memory 802 and executed by the processor 801 to complete the present application. One or more of the modules/units may be a series of program instruction segments capable of performing specific functions to describe the execution of the program in the device.

In particular, the processor 801 may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits of embodiments of the present application.

Memory 802 may include mass storage for data or instructions. By way of example, and not limitation, memory 802 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of the above. Memory 802 may include removable or non-removable (or fixed) media, where appropriate. Memory 802 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 802 is a non-volatile solid-state memory.

The memory may include Read Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) machine-readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors) it is operable to perform the operations described with reference to methods in accordance with aspects of the present disclosure.

The processor 801 implements any one of the methods of the above embodiments by reading and executing programs or instructions stored in the memory 802.

In one example, the electronic device may also include a communication interface 803 and a bus 804. The processor 801, the memory 802, and the communication interface 803 are connected to each other through a bus 804 and perform communication with each other.

The communication interface 803 is mainly used to implement communication between each module, apparatus, unit and/or device in the embodiments of the present application.

Bus 804 includes hardware, software, or both, coupling components of the online data flow billing device to each other. By way of example, and not limitation, the buses may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a micro channel architecture (MCa) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus, or a combination of two or more of the above. Bus 804 may include one or more buses, where appropriate. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

Additionally, in connection with the methods of the above-described embodiments, embodiments of the present application may be provided with a machine-readable storage medium. The machine-readable storage medium having stored thereon a program or instructions; the program or instructions, when executed by a processor, implement any of the methods of the embodiments described above. The machine-readable storage medium may be read by a machine such as a computer.

The embodiment of the application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled with the processor, and the processor is used for running a program or an instruction, implementing each process of the above method embodiment, and achieving the same technical effect, so as to avoid repetition, and not repeated here.

It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, chip systems, or system-on-chip chips, etc.

Embodiments of the present application provide a computer program product stored in a machine-readable storage medium, where the program product is executed by at least one processor to implement the respective processes of the above method embodiments, and achieve the same technical effects, and for avoiding repetition, a detailed description is omitted herein.

It should be clear that the present application is not limited to the particular arrangements and processes described above and illustrated in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions, or change the order between steps, after appreciating the spirit of the present application.

The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer grids such as the internet, intranets, etc.

It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be different from the order in the embodiments, or several steps may be performed simultaneously.

Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer programs or instructions. These programs or instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In the foregoing, only the specific embodiments of the present application are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, which are intended to be included in the scope of the present application.

Claims

1. A method of trajectory planning, comprising:

combining the first track and the second track to obtain a third track;

and converting the third track from the Frenet coordinate system to a Cartesian coordinate system to obtain a target track.

2. The method according to claim 1, wherein the performing track planning on the first direction and the second direction under the Frenet coordinate system according to the vehicle state information to obtain a first track corresponding to the first direction and a second track corresponding to the second direction includes:

planning a first track point of the first direction and a second track point of the second direction based on time under the Frenet coordinate system according to the vehicle state information;

the first track points are segmented, a plurality of sections of first curves and optimal curve tangent angles of each section of first curves are determined, and the second track points are segmented, so that optimal curve tangent angles of a plurality of sections of second curves and each section of second curves are determined;

determining the optimal curvature of each section of first curve based on the optimal curve tangent angle of each section of first curve, and determining the optimal curvature of each section of second curve based on the optimal curve tangent angle of each section of second curve;

and connecting the multiple sections of first curves based on the optimal curvature of each section of first curve to obtain a first track corresponding to the first direction, and connecting the multiple sections of second curves based on the optimal curvature of each section of second curve to obtain a second track corresponding to the second direction.

3. The method according to claim 2, wherein connecting the multiple segments of the first curve based on the optimal curvature of each segment of the first curve to obtain a first track corresponding to the first direction, and connecting the multiple segments of the second curve based on the optimal curvature of each segment of the second curve to obtain a second track corresponding to the second direction, comprises:

connecting the multiple sections of first curves based on the optimal curvature of each section of first curve to obtain a first initial track corresponding to the first direction, and connecting the multiple sections of second curves based on the optimal curvature of each section of second curve to obtain a second initial track corresponding to the second direction;

discretizing the first initial trajectory and the second initial trajectory based on time, respectively;

and respectively smoothing the discretized first initial track and the discretized second initial track to obtain a first track corresponding to the first direction and a second track corresponding to the second direction.

4. A method according to claim 3, wherein smoothing the discretized first initial trajectory and the discretized second initial trajectory to obtain a first trajectory corresponding to the first direction and a second trajectory corresponding to the second direction, respectively, includes:

and respectively smoothing the discretized first initial track and the discretized second initial track according to the piecewise track optimization cost equation and the piecewise track connection point constraint equation to obtain a first track corresponding to the first direction and a second track corresponding to the second direction.

5. The method of claim 4, wherein the piecewise trajectory optimization cost equation is:

wherein,,

for acceleration weights in the tangential direction of the track in the first direction or in the second direction, +.>

For the acceleration rate of change in the tangential direction of the track in the first direction or in the second direction, +.>

For the curvature weight of the first direction or the second direction, +.>

For the speed deviation weight in the tangential direction of the track in the first direction or in the second direction, +.>

For the speed in the first direction or in the second direction, < >>

For the acceleration in the first direction or in the second direction, +.>

For the first direction or theThe acceleration change rate in the second direction is t time;

the constraint equation of the segment track connection point is as follows:

wherein,,

for the speed in the first direction or in the second direction, < >>

For the acceleration in the first direction or in the second direction, +.>

For the acceleration change rate in the first direction or the second direction, Δt is a discretization time interval, and i is a sequence number after segmentation.

6. The method of any one of claims 1 to 5, wherein said translating the third trajectory from the Frenet coordinate system to a cartesian coordinate system results in a target trajectory, comprising:

performing experimental verification on the fourth track;

in the case that the experimental verification passes, the fourth track is determined as a target track.

7. A trajectory planning method device, characterized by comprising:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring vehicle state information, the vehicle state information comprises a vehicle position, a course angle, a vehicle speed and a vehicle acceleration under a vehicle coordinate system, a first displacement, a first speed and a first acceleration along a first direction under a Frenet coordinate system, and a second displacement, a second speed and a second acceleration along a second direction under the Frenet coordinate system;

and the conversion module is used for converting the third track from the Frenet coordinate system to a Cartesian coordinate system to obtain a target track.

8. A vehicle, characterized in that the vehicle comprises a trajectory planning method device for implementing the method as claimed in any one of claims 1-6.

9. An electronic device, the device comprising: a processor and a memory storing a program or instructions;

the processor, when executing the program or instructions, implements the method of any one of claims 1-6.

10. A machine-readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the method of any of claims 1-6.