System and method for planning paths of intelligent vehicles based on control sampling

A path planning and intelligent vehicle technology, which is applied to road network navigators, measuring devices, instruments, etc., can solve problems such as slow convergence speed, poor path enforceability, complex modeling, etc., and achieve the effect of smooth paths and reduced errors

Active Publication Date: 2017-08-18
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

When there are a large number of irregularly distributed obstacles, the existing intelligent vehicle path planning method has problems such as complex modeling, high computational complexity, slow convergence speed, and poor implementability of the planned path. Therefore, the present invent

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  • System and method for planning paths of intelligent vehicles based on control sampling
  • System and method for planning paths of intelligent vehicles based on control sampling
  • System and method for planning paths of intelligent vehicles based on control sampling

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Embodiment Construction

[0037] The technical solutions in the embodiments of the present invention will be described clearly and in detail below with reference to the drawings in the embodiments of the present invention. The described embodiments are only some of the embodiments of the invention.

[0038] The technical scheme that the present invention solves the problems of the technologies described above is:

[0039] Firstly, according to the vehicle parameters, kinematic equations and derived vehicle state expansion equation and the sampling range of the control input (front wheel angle). Then, starting from the initial state (current state), the state tree is continuously expanded using the sampled control input until the leaf node of the state tree reaches the target point. At this point, an initial path consisting of a sequence of state points is obtained. Finally, the initial path is processed so that it can be traced for execution.

[0040] The specific working mode of the system of the p...

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Abstract

The invention discloses a system and a method for planning paths of intelligent vehicles based on control sampling. The system comprises an environment map module, a vehicle status calculation module and a path searching module, wherein the environment map module is used for storing environment information and vehicle status information detected by a vehicle-mounted sensor and constructing a real-time environment map for planning the paths; the vehicle status calculation module is used for providing functions of expanding vehicle status, evaluating the vehicle status and checking collision of the status based on an environment mode and a vehicle status expansion module; the path searching module is used for executing an initial path searching algorithm to obtain initial paths, and then interpolating the initial path by using secondary B sample bars with tangent constraint to obtain continuous final paths. The system and the method for planning the path have high real-time performance and convergence performance; the planned paths meet vehicle kinematics constraints; the system and the method are high in executability.

Description

technical field [0001] The invention belongs to computer and automation technology, in particular to the technical field of intelligent vehicle path planning, and in particular relates to a control sampling-based intelligent vehicle path planning system and method. Background technique [0002] Path planning technology is one of the key technical issues of intelligent vehicles. In a dynamic and uncertain environment, intelligent vehicles plan the path that the vehicle should currently travel in real time according to the information provided by the environmental perception system and the vehicle state measurement system, as well as the destination to be reached, so that the vehicle can reach the destination safely and quickly. [0003] Chinese patent application: device and method for local path planning of unmanned vehicles (application number: 201110007154.X) uses the artificial potential field method to synthesize the influence of factors such as obstacles and target poin...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3492
Inventor 岑明孔令上曾素华李银国田甄
Owner CHONGQING UNIV OF POSTS & TELECOMM
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