The invention discloses a turning track planning method for automatic driving. The method comprises the following steps: S1, obtaining a global path according to a current position and a target point of a vehicle; s2, taking a path point closest to real-time positioning of the vehicle in the global path as a starting point, and obtaining a local forward global path and a local backward global path forwards and backwards; s3, generating a local frenet path in the forward direction and a local frenet path in the backward direction; s4, walking according to the local frenet path in the advancing direction, triggering a reversing mechanism, and calculating the local frenet path in the reversing direction; and S5, reversing according to the local frenet path in the reversing direction. The invention provides a track planning method which is different from an existing track planning method for setting a fixed backing route through parameter configuration, the motion fluency of the vehicle is improved, and the problem that the vehicle is caught in a forward and backward endless loop due to excessive dependence on parameters is avoided.

    本发明公开了一种自动驾驶的转弯轨迹规划方法,包括:S1、根据车辆当前位置和目标点获得全局路径;S2、以全局路径中距离车辆的实时定位最近的路径点为起点,向前和向后获取局部前向全局路径和局部后向全局路径;S3、生成前进方向的局部frenet路径和后退方向的局部frenet路径;S4、按照前进方向的局部frenet路径行走,触发倒车机制,计算倒车方向的局部frenet路径;S5、按照倒车方向的局部frenet路径进行倒车。本发明提供了一种区别于现有通过参数配置设置固定倒车路线的轨迹规划方法,提高了车辆的运动流畅度,避免过于依赖参数造成的使车辆陷入前进后退死循环的问题。


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    Title :

    Turning trajectory planning method for automatic driving


    Additional title:

    一种自动驾驶的转弯轨迹规划方法


    Contributors:

    Publication date :

    2025-02-18


    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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