The invention provides a spatio-temporal joint trajectory planning method and device based on sparse sampling, and belongs to the technical field of automatic driving. Acquiring state information of the vehicle and state information of dynamic and static obstacles around the vehicle; obtaining a space-time joint map according to the state information of the vehicle and the surrounding environment information of the vehicle; based on the longitudinal acceleration in the self-vehicle state information, sparse sampling is carried out on the self-vehicle coarse-grained track points according to a space-time joint map, and a self-vehicle coarse-grained track point set is obtained; determining an optimal coarseness track according to the self-turning coarseness track point set; determining a three-dimensional convex space according to the optimal coarseness trajectory and a spatio-temporal joint map; and generating a Bezier fine-grained trajectory in a three-dimensional convex space by using convex hull characteristics of a Bezier curve. Complicated configuration space obstacles and trajectory optimality under dynamic constraints are fully considered, the calculation efficiency and trajectory quality are improved, and trajectory safety and feasibility are guaranteed.

    本发明提供了一种基于稀疏采样的时空联合轨迹规划方法及装置,属于自动驾驶技术领域。获取自车状态信息及自车周围的动静态障碍物状态信息;根据自车的状态信息及自车周围环境信息,获得时空联合地图;基于自车状态信息中的纵向加速度,根据时空联合地图,对自车粗粒度轨迹点进行稀疏采样,获得自车粗粒度轨迹点集合;根据自车粗粒度轨迹点集合,确定最优粗粒度轨迹;根据最优粗粒度轨迹和时空联合地图,确定三维凸空间;利用贝塞尔曲线的凸包特性,在三维凸空间中生成贝塞尔细粒度轨迹。充分考虑复杂构型空间障碍和动态约束下轨迹的最优性,提高计算效率与轨迹质量,保证轨迹安全性和可行性。


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    Title :

    Space-time joint trajectory planning method and device based on sparse sampling


    Additional title:

    一种基于稀疏采样的时空联合轨迹规划方法及装置


    Contributors:
    LI PENGLONG (author) / GAO JIABING (author) / ZHAO WANZHONG (author) / ZHANG XIAOHONG (author) / CHEN CHANGHONG (author)

    Publication date :

    2024-11-22


    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



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