Unmanned vehicle dynamic path programming method based on environment uncertainty

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...

AI Technical Summary

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, and did not consider the size and movement uncertainty of moving obstacles. There is also no prediction of the trajectory of moving obstacles, and it is difficult to reflect the potential threats of moving obstacles

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