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A method, system and device for unmanned driving path planning

A path planning and unmanned driving technology, which is applied in the directions of measuring devices, control devices, transportation and packaging, etc., can solve the problems of poor scalability

Active Publication Date: 2021-04-13
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that it can only perform path planning for the lane change path, and the scalability is poor.

Method used

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  • A method, system and device for unmanned driving path planning
  • A method, system and device for unmanned driving path planning
  • A method, system and device for unmanned driving path planning

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Embodiment 1

[0138] Aiming at the problems that the existing technology requires large storage space, cannot meet the requirements of vehicle incomplete constraints, and has poor adaptability and scalability, the present invention specially designs a new unmanned driving path planning method and system for the automatic driving system. and device.

[0139] The block diagram of the automatic driving system of this embodiment is as follows figure 2 As shown, the local path planning module performs local path planning according to the environment model information provided by the perception information fusion module, the vehicle pose information provided by the vehicle navigation and positioning module, and the global route, and outputs the planning results to the path following module. The unmanned driving path planning method of the present invention is mainly realized by the local path planning module, so other modules of the automatic driving system will not be described in detail.

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Abstract

The invention discloses a method, system and device for unmanned driving path planning. The method includes: acquiring environment perception information and vehicle positioning and navigation information, wherein the environment perception information includes obstacle information, roadside information and lane line information, and the vehicle Positioning and navigation information includes vehicle pose and target route; generate sub-paths according to environment perception information and vehicle positioning and navigation information, and obtain candidate sub-paths that meet vehicle constraints; perform collision detection on candidate sub-paths that satisfy vehicle constraints, and obtain no Collision candidate sub-paths; A* search algorithm is used to search sub-paths for non-collision candidate sub-paths; the local path of the vehicle is obtained according to the sub-path search results. The invention has the advantages of small requirement on storage space, can meet the requirement of vehicle incomplete constraints, good adaptability and good expandability, and can be widely used in the field of automatic driving.

Description

technical field [0001] The present invention relates to the field of automatic driving, in particular to an unmanned driving path planning method, system and device. Background technique [0002] Vehicle autonomous driving technology (also known as vehicle driverless technology) has great potential in terms of travel safety, energy saving and environmental protection, and is considered to be an effective way to solve traffic congestion, reduce traffic accidents and improve environmental pollution. In the recent period, autopilot technology has received widespread attention and has become one of the main directions of future automotive development. [0003] Generally speaking, an automatic driving system includes the following modules: environment perception module, path planning module, control execution module and human-machine interface module. The above four modules are crucial to the entire automatic driving system and directly affect the intelligence of the system. Lev...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/34
CPCG01C21/20G01C21/3446B62D15/025B60W60/0011B60W2520/00B60W2552/30B60W2552/53B60W2554/40B60W2556/50G06V20/56G05D1/0217G05D1/0238G05D1/0289G06V20/58
Inventor 涂强赖健明李鹏陈盛军肖志光何涛
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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