A trajectory planning method based on flow field in dynamic environment

A trajectory planning and dynamic environment technology, applied in the direction of motor vehicles, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems that non-integrity systems cannot be applied, and the trajectory is not smooth, etc., to achieve good integrity, The effect of strong universality and strong solution ability

Active Publication Date: 2020-11-27
TONGJI UNIV
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Problems solved by technology

However, the disadvantage of this method is that it cannot be applied to non-integrity systems, and the trajectory is not smooth

Method used

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  • A trajectory planning method based on flow field in dynamic environment
  • A trajectory planning method based on flow field in dynamic environment
  • A trajectory planning method based on flow field in dynamic environment

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Experimental program
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Embodiment

[0048] Such as Figure 11 As shown, a flow field-based trajectory planning method in a dynamic environment includes the following steps:

[0049] Establish a three-dimensional flow field calculation model according to the starting point, ending point and obstacles in the environment of the vehicle;

[0050] The vehicle kinematics model is established with the forward velocity of the vehicle body as the input and the coordinates and heading angle as the state quantity;

[0051] The vehicle kinematics model is used as the rolling equation to solve the rolling time-domain optimization problem of the flow field, and the velocity vector distribution of the flow field is used as the guiding information for trajectory planning to obtain the planned trajectory, where the optimization quantities are the forward velocity and yaw rate of the vehicle body , the optimization objective includes the consistency of the vehicle motion and the flow field motion, and the constraint conditions i...

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Abstract

The invention relates to a trajectory planning method based on flow field in a dynamic environment. The method comprises the following steps that according to a starting point, an ending point of a vehicle and obstacles in the environment, a three-dimensional flow field calculation model is established; a forward velocity of the vehicle body is taken as an input quantity, coordinates and a headingangle are taken as a state quantity, a vehicle kinematic model is established; the vehicle kinematic model is adopted as a rolling equation to solve the time domain optimization problem of the flow field, the velocity vector distribution of the flow field is used as the guidance information for trajectory planning, and the planning trajectory is obtained. Compared with the prior art, by designingthe rolling time domain optimization problem, the method adds the vehicle model and constraints to the application of the flow field, it can be ensured that the generated trajectory meets the variousconstraint indexes of the vehicle. The method is not sensitive to tasks, can be applied to the trajectory planning of a variety of tasks, can even be applied to other non-holonomic systems, and therefore has a high universality.

Description

technical field [0001] The invention relates to a trajectory planning method for an unmanned vehicle, in particular to a trajectory planning method based on a flow field in a dynamic environment. Background technique [0002] A driverless car is a smart car that can drive autonomously without a driver. Driverless cars generally use on-board sensors such as lidar, vision sensors, and millimeter-wave radars to perceive the surrounding environment of the vehicle, and make decisions based on the environmental information obtained from environmental perception. Generate the required reference trajectory based on the behavior, and control the steering and speed of the vehicle accordingly, so that the vehicle can drive safely and reliably on the road. Unmanned vehicles have fundamentally changed the traditional closed-loop control mode of "people-vehicle-road" and removed uncontrollable drivers from the closed-loop system, thereby greatly improving the efficiency and safety of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0276G05D2201/0213
Inventor 宋梦譞王南王峻
Owner TONGJI UNIV
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