Unmanned vehicle dynamic path programming method based on environment uncertainty

An uncertain and dynamic path technology, applied in the direction of vehicle position/route/height control, motor vehicles, non-electric variable control, etc., can solve the uncertainties that do not consider the size and movement of moving obstacles, and do not take into account the vehicle Structural and kinematic characteristics of moving obstacles, difficulty in reflecting potential threats of moving obstacles, etc.

Inactive Publication Date: 2016-05-04
TONGJI UNIV
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Problems solved by technology

The above two patents did not take into account the structural and kinematic characteristics of the vehicle and the handling of moving obstacles, did not reflect the movement characteristics of obstacles, an...

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  • Unmanned vehicle dynamic path programming method based on environment uncertainty
  • Unmanned vehicle dynamic path programming method based on environment uncertainty
  • Unmanned vehicle dynamic path programming method based on environment uncertainty

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Embodiment Construction

[0098] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0099] Such as figure 1 As shown, a dynamic path planning method for unmanned vehicles based on environmental uncertainty includes the following steps:

[0100] S1: Establish a vehicle kinematics model, which is used to reflect the motion state of the unmanned vehicle and obstacles.

[0101] Such as figure 2 As shown, the vehicle kinematics model satisfies the following formula:

[0102] x = [ x , y , θ , δ ,...

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Abstract

The invention discloses an unmanned vehicle dynamic path programming method based on environment uncertainty, comprising steps of establishing a vehicle kinetics model, establishing a dynamic environment model and necessary conditions for anew programming a path, obtaining a motion state original value of the unmanned vehicle, a vehicle motion state original target value and a vehicle motion state candidate target value, generating a candidate path, obtaining an optimal path through selection based on a safety index and a rapidity index, and reprogramming the optimal path of the unmanned vehicle when the unmanned vehicle motion environment satisfies the condition where the new path can be programmed. Compared with the prior art, the invention can not only satisfy the safety requirement for safety driving, but guarantees the driving efficiency under the constraint of the vehicle model. The invention realizes the coordination optimization of the performance index through distribution of various weights, realizes the real-time planning under the condition where a plurality of dynamic obstacles exist, and effectively improves the safety of the unmanned vehicle driving.

Description

technical field [0001] The invention relates to the field of path planning for unmanned vehicles, in particular to a dynamic path planning method for unmanned vehicles based on environmental uncertainty. Background technique [0002] With the development of computer technology and artificial intelligence, unmanned vehicles (hereinafter referred to as unmanned vehicles) have shown great application prospects in military, transportation, industrial production, logistics and warehousing, and daily life. In terms of national defense and military affairs, unmanned vehicles are mostly used to perform military tasks in dangerous scenarios, such as military rescue and material delivery. In terms of traffic safety, unmanned driving technology is an effective means to promote the development of intelligent transportation systems. Unmanned driving technology based on artificial intelligence can improve the active safety of vehicles, and can effectively reduce traffic accidents caused b...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D2201/0216
Inventor 王晓年李朝成王峻
Owner TONGJI UNIV
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