The invention relates to the technical field of automatic driving, and particularly discloses a trajectory planning method for an automatic driving heavy truck, and the method comprises the steps: obtaining an initial reference line; judging whether avoidance is needed or not according to the initial reference line and the current environment state of the vehicle; when avoidance is not needed, optimizing the initial reference line to obtain an optimal obstacle avoidance track, and controlling the vehicle to run according to the optimal obstacle avoidance track; when avoiding is needed, an obstacle is determined according to the environment state of the vehicle, deviation processing is conducted on the initial reference line according to the obstacle, and a first obstacle avoiding path is obtained; performing refined processing on the first obstacle avoidance path based on a quadratic programming algorithm to obtain a second obstacle avoidance path; and in combination with the obstacle constraint and the obstacle cost, performing trajectory planning on the second obstacle avoidance path by adopting an improved iterative linear quadratic regulator algorithm to obtain an optimal obstacle avoidance trajectory, and controlling the vehicle to run according to the optimal obstacle avoidance trajectory.

    本发明涉及自动驾驶技术领域,具体公开了一种针对自动驾驶重卡的轨迹规划方法,包括:获取初始参考线;根据初始参考线以及车辆当前的环境状态判断是否需要避让;当不需要避让时,对初始参考线进行优化,得到最优避障轨迹,并控制车辆按照最优避障轨迹行驶;当需要避让时,根据车辆的环境状态确定障碍物,并根据障碍物对初始参考线进行偏移处理,得到第一避障路径;基于二次规划算法对第一避障路径进行精细化处理,得到第二避障路径;结合障碍物约束和障碍物代价,采用改进的迭代线性二次调节器算法对第二避障路径进行轨迹规划,得到最优避障轨迹,并控制车辆按照最优避障轨迹行驶。


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    Title :

    Track planning method for automatic driving heavy truck


    Additional title:

    一种针对自动驾驶重卡的轨迹规划方法


    Contributors:
    WEI LIANZHEN (author) / WANG DI (author) / CUI DIXIAO (author)

    Publication date :

    2025-05-09


    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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