Intersection identification and intersection trajectory planning method for intelligent vehicle in urban road running process

Abstract

The invention relates to an intersection identification and intersection trajectory planning method for an intelligent vehicle in an urban road running process. The method is actual application of an automatic driving technology and an auxiliary driving technology on the basis of intelligent traffic. The method is characterized in that intersections are divided into four types of typical intersection bodies, intersection identification is conducted through a multisensory infusion mode and a four-layer early warning template matching method, road edge disappearing points are determined as intersection entry points, template center points matched with the intersections are determined as intersection exit points, trajectory planning is conducted through a double-RRT method as so to achieve intersection identification and tracking. The intersection identification and intersection trajectory planning method has the advantages that the intelligent vehicle can cope with the complex environment of urban traffic intersections through intersection identification and planning, the intelligent driving problems that the intelligent vehicle is lost at the intersections and can pass through the intersections only through accurate navigation are solved, the adaptive capacity to the environment of the intelligent vehicle is improved, and important technological support is provided for intelligent driving under the complex urban environment.

Description

technical field [0001] The invention relates to a method for intersection recognition and intersection trajectory planning of an intelligent vehicle while driving on an urban road, and belongs to the field of intelligent transportation. Background technique [0002] The automatic driving system occupies an important position in the field of intelligent transportation, and is the product of the intersection of multiple technical disciplines such as computer artificial intelligence, robotics, control theory and electronic technology. It makes analysis and judgment based on the information obtained by each sensor, liberates people from single and persistent driving activities, reduces the impact of differences in driving behavior on the stability of traffic flow, and is conducive to improving the vehicle traffic rate of the existing road network and alleviating traffic congestion. Congestion, on the other hand, can improve automobile driving safety, reduce traffic accident rate,...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at overcoming the above deficiencies, and provides a method for effectively identifying intersections and intersection trajectory planning for intelligent vehicles while driving on urban roads, dividing intersections into four typical types, applying multi-sensor fusion and four-layer early warning template matching methods, and performing For intersection recognition, the entry point of the intersection is determined by the central points of the vanishing points along the two sides of the road, and the center point of the template matching the intersection is used as the exit point of the intersection. The global path planning of the intersection is carried out with the dual RRT planning method, and the local trajectory is calculated with the quintic parameter equation. Planning and tracking the global path of the intersection can realize the identification and trajectory planning of the intersection more accurately, and can effectively solve the problem of intelligent driving intersection identification and planning in the complex urban environment. The application of intelligent driving vehicles in the future can greatly ease urban traffic. Common traffic problems in big cities such as congestion, traffic safety and environmental pollution

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