Trajectory planning method and device applied to lane-changing overtaking of automatic driving vehicle

• Main Authors: GAO YABIN, NA MOON-SUNG, WU LIGANG, JIANG WEIZHE, ZUO WEN
• Format: Patent
• Language: Chinese; English
• Published: 23.09.2022
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The invention discloses a track planning method and device applied to lane changing overtaking of an automatic driving vehicle, and belongs to the technical field of robot motion planning. In order to solve the problem that an existing trajectory planning method is poor in path planning effect, the method introduces a bias sampling node set on the basis of an Informed RRT * algorithm, when circulation is carried out for the bth time, a sampling bias node is randomly selected from the bias sampling node set, the sampling bias node is taken as a circle center, and the sampling bias node is selected from the bias sampling node set; random uniform sampling is carried out in a circle with r as the radius; when cycles except for the bth cycle are carried out, random uniform sampling is carried out in an ellipse which is constructed by taking the starting point and the ending point as focuses and taking cbest as a long axis; the configuration space is explored by using an improved Informed RRT * algorithm, and a fea