Planning method of intelligent vehicle autonomous running dynamic trajectory and system of the same

The invention discloses a planning method of an intelligent vehicle autonomous running dynamic trajectory and belongs to the technical field of intelligent transportation. The planning method of the intelligent vehicle autonomous running dynamic trajectory comprises (1) a step of generating a trajectory of an intelligent vehicle through searching for an optimum solution of a mathematical model by means of an optimum control method, (2) a step of extracting features of the trajectory generated in the first step, and (3) a step of judging whether the features meet presupposed constraint conditions or not; if the features meet the presupposed constraint conditions, regarding the trajectory as a final output trajectory; if the features do not meet the presupposed constraint conditions, adjusting weight W , W , and W according to presupposed weight adjustment rules and then returning to the first step. The invention further discloses a planning system of the intelligent vehicle autonomous running dynamic trajectory. The planning system of the intelligent vehicle autonomous running dynamic trajectory comprises a trajectory generation module, a feature extraction module, an estimation module, and a weight adjustment module. Compared with the prior art, the planning method of the intelligent vehicle autonomous running dynamic trajectory and the system of the same have a stronger learning ability and a better adaptability to the unknown environment.