The invention provides an automatic driving integrated planning control method, which comprises the steps of generating an initial population of a genetic algorithm, and encoding individuals of the initial population; decoding the current population, calculating a vehicle driving path point set represented by an individual, calculating an individual objective function value, selecting copy and crossover mutation operation, and obtaining an optimal individual through iterative evolution; and decoding the optimal individual into a front wheel deflection angle control increment sequence, calculating the front wheel deflection angle control quantity of the current control period according to the front wheel deflection angle control quantity of the previous control period, and outputting the front wheel deflection angle control quantity to the automatic driving vehicle for execution. According to the invention, an integrated planning control method can be provided for automatic driving, and the optimal front wheel deflection angle control quantity can be calculated by directly adopting an intelligent optimization method according to road environment information, a vehicle driving target and vehicle state information. Compared with a traditional method and an existing method, the method has the advantages that the planning control structure and the calculation process are simple, the vehicle driving precision is high, and the driving safety and stability are high.
本发明提供一种自动驾驶一体化规划控制方法,包括:生成遗传算法的初始种群,对初始种群的个体进行编码;对当前种群进行解码、计算个体所代表的车辆行驶路径点集、计算个体目标函数值、选择复制及交叉变异操作,通过迭代进化获得最优个体;将最优个体解码为前轮偏角控制增量序列,并根据上一个控制周期的前轮偏角控制量计算当前控制周期的前轮偏角控制量,输出到自动驾驶车辆执行。本发明能够为自动驾驶提供一体化的规划控制方法,只需根据道路环境信息、车辆行驶目标、车辆状态信息,直接采用智能优化方法计算最优的前轮偏角控制量。相比于传统方法和现有方法,本发明具有规划控制结构和计算过程简单,车辆行驶精度高,行驶安全稳定性高的优点。
Automatic driving integrated planning control method
一种自动驾驶一体化规划控制方法
2024-11-08
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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