A dynamic path planning method for unmanned vehicles based on environmental uncertainty

Abstract

The invention relates to a dynamic path planning method for unmanned vehicles based on environmental uncertainty, which includes the following steps: S1: establishing a vehicle kinematics model; S2: establishing a dynamic environment model and re-planning the path's satisfying conditions; S3: obtaining the unmanned vehicle kinematics model; The vehicle's vehicle motion state initial value, vehicle motion state initial target value and vehicle motion state candidate target value; S4: Generate candidate paths; S5: Select the optimal path based on safety indicators and speed indicators; S6: When there is no one When the vehicle movement environment meets the conditions for re-planning the path, the optimal path for the unmanned vehicle is re-planned. Compared with the existing technology, the present invention can not only meet the safety requirements of vehicle driving, but also ensure the driving efficiency while satisfying the constraints of the vehicle model, achieve coordinated optimization of performance indicators through different weight distribution, and simultaneously perform multiple dynamic functions. Real-time planning is achieved in the presence of obstacles, effectively improving the safety of autonomous 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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