Method and device for local path motion planning of pilotless automobile

A driverless car, local path technology, applied in transportation and packaging, vehicle position/route/height control, motor vehicles, etc.

Active Publication Date: 2018-05-04
GUANGZHOU AUTOMOBILE GROUP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Based on this, it is necessary to provide a local path motion planning method and device for unmanned vehicles for the problem of the optimal motion path that cannot be planned by traditional unmanned vehicles

Method used

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  • Method and device for local path motion planning of pilotless automobile
  • Method and device for local path motion planning of pilotless automobile
  • Method and device for local path motion planning of pilotless automobile

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Embodiment 1

[0051] In order to solve the problem of the optimal motion path that cannot be planned by traditional unmanned vehicles, the present invention provides an embodiment 1 of a local path motion planning method for unmanned vehicles; figure 1 It is a schematic flow chart of Embodiment 1 of the local path motion planning method for unmanned vehicles of the present invention; as figure 1 As shown, the following steps may be included:

[0052] Step S110: Offset the initial planning path to the middle line of the currently detected lane to obtain the expected driving path of the driverless car;

[0053]Specifically, the embodiment of the present invention provides a local path motion planning strategy for an unmanned vehicle, which can be applied to the local path motion planning in the motion planning layer of the decision-making control system of the unmanned vehicle.

[0054] The expected driving path can be processed by the behavior decision-making layer software of the unmanned ...

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Abstract

The invention relates to a method and device for local path motion planning of a pilotless automobile. The method for local path motion planning of the pilotless automobile includes the steps of shifting an initial planning path to a middle line of a currently detected lane, to obtain a desired driving path of the pilotless automobile; according to a current vehicle position point of the pilotlessautomobile, the current vehicle heading and the desired driving path, fitting a local path trajectory cluster; according to a preset cost function, obtaining a cost function value of each local pathtrajectory in the local path trajectory cluster; and selecting a local path trajectory with the smallest cost function value as a current optimal local motion path for the pilotless automobile. According to the method and device for local path motion planning of the pilotless automobile, the optimal local motion path for driving is planned based on the desired driving path for the pilotless automobile and current vehicle peripheral obstacle information detected by a sensing system.

Description

technical field [0001] The invention relates to the field of motion planning of a decision-making control system of an unmanned vehicle, in particular to a method and device for motion planning of a local path of an unmanned vehicle. Background technique [0002] Due to the diversity and complexity of the real traffic environment, if the driverless car completely follows the driving trajectory given by the GPS (Global Positioning System: Global Positioning System) positioning information and the lane line information detected by the perception system, there will be huge potential. Safety risk, because it is impossible to guarantee whether there will be unexpected obstacles on the lane where the unmanned vehicle is located, there will be roadblocks in the construction section or vehicles in adjacent lanes will drive on the line. [0003] During the implementation process, the inventors found that there are at least the following problems in the traditional technology: traditi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276G05D1/0278G05D2201/0212
Inventor 甘新华查鸿山黄少堂徐伟修彩靖
Owner GUANGZHOU AUTOMOBILE GROUP CO LTD
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