Intelligent vehicle track hierarchical planning method based on minimum action quantity principle

• Main Authors: FU YAO, WEN GUANZHENG, GENG XIAOHU, LIU KE, LEI YULONG
• Format: Patent
• Language: Chinese; English
• Published: 01.12.2023
• 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 belongs to the technical field of intelligent driving, and discloses an intelligent vehicle trajectory hierarchical planning method based on a minimum action quantity principle, which comprises the following steps: in a vehicle lane changing process, setting a lane changing trajectory starting point and a plurality of lane changing trajectory end points, determining a lane changing path from the lane changing trajectory starting point to each lane changing trajectory end point, and determining a lane changing path from the lane changing trajectory starting point to each lane changing trajectory end point; obtaining a lane changing track set; establishing a time mileage map based on surrounding vehicle trajectory prediction; based on the time mileage diagram, a dynamic planning method is adopted for vehicle speed planning, and the initial vehicle speed of the vehicle is obtained; smoothing the initial vehicle speed based on a quadratic programming method to obtain an optimized vehicle speed; and