Multi-vehicle cooperative trajectory planning method in closed environment

The invention relates to a method for collaborative trajectory planning of multiple vehicles in a closed environment, belongs to the technical field of automatic driving, and particularly relates to a scheme for centralized trajectory planning of multiple unmanned vehicles. The problem that the transportation efficiency is low in the multi-vehicle closed environment in the intelligent logistics industry is solved. The method specifically comprises the steps that trajectory planning is divided into multiple stages, the first stage is rough path generation, and the second stage is smooth dynamic feasible trajectory generation established on the solving result of the first stage. According to the method, the conflict-free trajectory of large-scale vehicles can be solved in a centralized manner, and the solving time is short. 本发明涉及一种封闭环境多车协同轨迹规划的方法，属于自动驾驶技术领域，尤其是涉及关于多无人车集中进行轨迹规划的方案。解决智能物流行业多车封闭环境中运输效率低的问题。具体包括：分为多阶段的轨迹规划，第一阶段为粗略路径生成，第二阶段是建立在第一阶段求解结果上的平滑动态可行地轨迹生成。该方法能对大规模车辆集中求解无冲突轨迹且具有较短求解时间。