The invention discloses a soft and hard constraint combined spatio-temporal joint trajectory planning method, which is characterized in that the upstream input of the trajectory planning method is perception data and positioning data which are respectively a road center line and a global system vehicle pose, and the planning history input is an upper frame planning trajectory and StitchState; passage corridor generation, soft constraint solution and hard constraint solution are respectively carried out on each frame of planning, and finally a planning track is obtained. The method has the advantages that the convex space is opened up through the passage corridor, the nonlinear obstacle avoidance cost is converted into the obstacle avoidance constraint, and meanwhile, the soft and hard constraints are combined to reduce the solving time consumption on the principle of ensuring that the trajectory is free of collision.

    本发明公开一种软硬约束结合的时空联合轨迹规划方法,所述轨迹规划方法的上游输入为感知数据和定位数据,分别是道路中心线和全局系车辆位姿,规划历史输入为上帧规划轨迹和StitchState,每帧规划分别进行通行走廊生成、软约束求解和硬约束求解,最后得到规划轨迹。本发明的优点是通过通行走廊开辟凸空间,将非线性避障代价转化为避障约束,同时将软硬约束结合以在保证轨迹无碰撞的原则上,降低求解耗时。


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    Title :

    Soft and hard constraint combined space-time joint trajectory planning method


    Additional title:

    一种软硬约束结合的时空联合轨迹规划方法


    Contributors:
    LIU ZHAOYONG (author) / DONG ZUOMIN (author) / YU ZIXIANG (author) / LEE HOON (author) / WU GUANGQIANG (author) / TAN XIAOQIANG (author) / LIU KAI (author)

    Publication date :

    2024-11-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS




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