The invention discloses a trajectory optimization method and device for automobile automatic driving emergency obstacle avoidance, a terminal and a storage medium, and the method comprises the steps: receiving preset basic parameters which comprise a starting point of an automobile driving trajectory, a terminal point of the trajectory and a speed planning equation; establishing a trajectory equation of the trajectory, setting a plurality of trajectory calculation points from the starting point to the end point according to the trajectory equation, and calculating the longitudinal velocity and the longitudinal acceleration of each trajectory calculation point according to a velocity planning equation; combining the trajectory equation and the speed and the longitudinal acceleration of each trajectory calculation point to calculate the comprehensive acceleration of each trajectory calculation point, and screening to obtain the maximum comprehensive acceleration; and performing optimization iteration on each trajectory polynomial coefficient of the trajectory equation in combination with the maximum comprehensive acceleration to obtain an optimal polynomial coefficient, and performing trajectory planning in combination with the optimal polynomial coefficient. According to the method, the maximum comprehensive acceleration of the planned trajectory is minimized, so that the safety level of the emergency obstacle avoidance process is improved.
本申请公开了一种用于汽车自动驾驶紧急避障的轨迹优化方法、装置、终端及存储介质,其中方法包括接收预设的基本参数,包括汽车行驶的轨迹的起点、轨迹的终点以及速度规划方程;建立轨迹的轨迹方程,依据轨迹方程设定多个起点至终点之间的轨迹计算点,依据速度规划方程计算各轨迹计算点的纵向速度和纵向加速度;结合轨迹方程以及各轨迹计算点的速度和纵向加速度计算得到各轨迹计算点的综合加速度并筛选得到最大综合加速度;结合最大综合加速度对轨迹方程的各轨迹多项式系数进行优化迭代得到最优多项式系数,结合最优多项式系数进行轨迹规划。本申请的方法将规划轨迹的最大综合加速度最小化,从而提升了紧急避障过程的安全水平。
Trajectory optimization method and device for automobile automatic driving emergency obstacle avoidance, terminal and storage medium
用于汽车自动驾驶紧急避障的轨迹优化方法、装置、终端及存储介质
18.04.2025
Patent
Elektronische Ressource
Chinesisch
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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