Unmanned driving track planning method

The invention discloses an unmanned driving trajectory planning method, which comprises the following steps: step 1, obstacle screening, including screening based on a driving path and screening based on speed planning; 2, planning a path by taking the minimum steering amplitude as a target in consideration of the kinematics characteristics and collision of the vehicle; and step 3, a speed planning method: respectively considering a trajectory curvature, a front obstacle influence factor and a side obstacle influence factor. According to the method, the problem of low flexibility caused by random or arranged sampling is solved from the aspect of path planning, and sampling is more reasonable. 本发明公开了一种无人驾驶轨迹规划方法，包括以下步骤：步骤1：障碍物筛选，所述障碍物筛选包括基于行驶路径的筛选和基于速度规划的筛选；步骤2：考虑车辆运动学特性与碰撞，以转向幅度最小为目标，规划路径；步骤3：速度规划方法，分别考虑轨迹曲率、前方障碍物影响因素、侧方障碍物影响因素。本发明从路径规划方面考虑，解决了随机或排列采样带来的灵活性低的问题，采样更加合理。