The invention belongs to the technical field of automobiles and intelligent moving bearing robots, and particularly relates to a novel track planning method based on an automobile model, and the method comprises the steps: 1, building a vehicle lane changing period model in a current moving scene, and determining a control strategy; 2, a steering angle, a vehicle body yaw velocity and a vehicle body yaw angle are planned; 3, establishing a planning track model according to the set speed and the yaw angle to obtain a vehicle planning track curve; 4, whether the vehicle planning track meets the current road driving requirement or not is judged, if yes, the next step is executed, and if not, the step 2 is executed again to adjust the control parameters affecting road track planning; and 5, updating the corresponding control instruction meeting the current driving condition to the database for learning accumulation, so that the database guides the step 2. According to the method, the relationship among the vehicle speed, the wheelbase, the steering angle and the curvature of the vehicle planning trajectory is established, and the planned trajectory is closer to the real movement condition of the vehicle.
本申请属于汽车及运动智能承载机器人技术领域,具体涉及一种新的基于汽车模型的轨迹规划方法,方法包括:步骤1:建立当前运动场景下的车辆变道周期模型,确定控制策略;步骤2:规划转向角、车身横摆角速度和车身横摆角;步骤3:根据设定速度和横摆角建立规划轨迹模型,得到车辆规划轨迹曲线;步骤4:判断车辆规划轨迹是否符合当前道路行驶要求,若符合则进入下一步,若不符合,则返回步骤2对影响道路轨迹规划的控制参数进行调整;步骤5:将符合当前行驶条件的相应控制指令更新至数据库进行学习积累,以使数据库对步骤2进行指导。本申请建立了车辆速度、轴距、转向角和车辆规划轨迹的曲率的关系,规划出来的轨迹更贴近车辆真实运动情况。
Novel trajectory planning method based on automobile model
一种新的基于汽车模型的轨迹规划方法
2024-09-03
Patent
Electronic Resource
Chinese
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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