Virtual constraint-based automatic driving vehicle path planning method

A technology for automatic driving and vehicle routing, applied in vehicle position/route/altitude control, motor vehicles, road network navigators, etc., can solve problems such as limited differential GPS signal range and high-precision maps

Active Publication Date: 2017-09-01
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0004] In view of the above analysis, the present invention aims to provide a path planning method for autonomous vehicles based on virtual con

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  • Virtual constraint-based automatic driving vehicle path planning method
  • Virtual constraint-based automatic driving vehicle path planning method
  • Virtual constraint-based automatic driving vehicle path planning method

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Embodiment Construction

[0107] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principles of the present invention.

[0108] According to a preferred embodiment of the present invention, a method for path planning of autonomous vehicles based on virtual constraints is provided, such as figure 1 shown, including the following steps:

[0109] Step S1: Obtain the heading of the lane centerline in the car body coordinate system according to the lane line detection result;

[0110] Specifically, the step S1 also includes the following sub-steps:

[0111] Step S101: Determine whether the lane line detection result is valid, if valid, execute step S102; if invalid, continue to use the lane line detection result of the previous cycle;

[0112] In this embodiment, the self-d...

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Abstract

The invention relates to a virtual constraint-based automatic driving vehicle path planning method. The method comprises the following steps that: a lane center line course under a vehicle body coordinate system is obtained according to a lane line detection result; the course of a vehicle is corrected through using a Kalman filter and the obtained lane center line course; a path point in an original path is corrected through using the corrected vehicle course; a relative lateral position relationship between the automatic driving vehicle and a road is obtained based on a three-dimensional laser radar grid map; virtual constraints are generated; and a desired path is generated according to the decision-making instruction of an automatic driving system. According to the method of the invention, GPS, vision and laser radar information is integrated to complete the precise positioning of the relative lateral position relationship of the vehicle and the road, and high-precision positioning equipment and high-precision maps are not required, the improvement of the lane maintaining capability and lane changing capability of the automatic driving vehicle under a structuralized urban or highway environment with clear lane lines can be facilitated, and the method is of great significance for the safe, stable and smooth driving of the automatic driving vehicle.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method for planning a route of an automatic driving vehicle based on virtual constraints. Background technique [0002] Path planning is one of the core technologies of autonomous vehicles, and its function is to ensure that the vehicle can safely complete the tracking of the global path. In an urban road environment or a highway environment, self-driving vehicles not only need to drive smoothly and stably in the lane where the vehicle is located, but also need to combine environmental perception information and intelligent decision-making instructions to perform more complex actions such as changing lanes and merging lines. In the condition of lane keeping, in order to ensure that the vehicle accurately follows the centerline of the lane and maintains lateral stability, it is necessary to constrain the vehicle in its lane; in the condition of changing lanes, it is ne...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/28G01C21/34
CPCG01C21/28G01C21/34G01C21/3446G05D1/0212G05D2201/0212
Inventor 熊光明郭孔辉龚建伟陈慧岩
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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