The invention provides a motion planning method for realizing emergency pull-over parking, and the method comprises the steps: obtaining a traffic situation evaluation result, building a driving risk field according to the traffic situation evaluation result, and calculating the risk field intensity of each point in the driving risk field; identifying a target vehicle intention according to the risk field intensity of the driving risk field where the vehicle is located, and deciding to execute a side parking motion planning method according to the target vehicle intention; constructing an executable path of the vehicle according to the vehicle kinematic model and the mechanical structure parameters of the vehicle; planning the speed of the vehicle based on a PID control algorithm; and correcting the executable path and speed by modifying the coordinates of the target point in a path planning algorithm loop. According to the motion planning method for realizing emergency side parking provided by the invention, the motion planning efficiency is improved, the adjustment of the parking posture of the vehicle is realized, the safety is improved, and the robustness of the motion planning process is enhanced.

    本发明提出一种实现紧急靠边停车的运动规划方法,包括,获取交通态势评估结果,根据交通态势评估结果建立行车风险场并计算行车风险场中各点的风险场强;根据车辆所处的行车风险场的风险场强识别目标车辆意图,根据目标车辆意图决策执行靠边停车运动规划方法;根据车辆运动学模型和车辆的机械结构参数对车辆的可执行路径进行构建;基于PID控制算法规划车辆的速度;通过路径规划算法循环中修改目标点坐标,对可执行路径和速度进行修正。本文提出的实现紧急靠边停车的运动规划方法,提高了运动规划效率,而且实现了对自车停靠姿态的调整,使安全性得以提升,更增强了运动规划过程的鲁棒性。


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    Titel :

    Motion planning method for realizing emergency side parking


    Weitere Titelangaben:

    一种实现紧急靠边停车的运动规划方法


    Beteiligte:
    WANG JIANQIANG (Autor:in) / YANG SHUOCHENG (Autor:in) / LEE JIN-HO (Autor:in) / ZHAO XIANG (Autor:in) / ZHAO RICONG (Autor:in)

    Erscheinungsdatum :

    25.11.2022


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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