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Method and device for local path motion planning of unmanned vehicles

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

Active Publication Date: 2021-05-11
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 unmanned vehicles
  • Method and device for local path motion planning of unmanned vehicles
  • Method and device for local path motion planning of unmanned vehicles

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Experimental program
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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 present invention relates to a method and device for motion planning of a local path of an unmanned vehicle, wherein the method for motion planning of a local path of an unmanned vehicle comprises the following steps: shifting the initial planned path to the middle line of the currently detected lane to obtain The expected driving path of the driverless car; according to the current vehicle position point, current vehicle heading and expected driving path of the driverless car, the local path trajectory cluster is obtained by fitting; according to the preset cost function, each local path in the local path trajectory cluster is obtained The cost function value of the trajectory; the local path trajectory with the smallest cost function value is selected as the current best local motion path of the driverless car. The embodiment of the present invention plans a drivable optimal local motion path based on the expected driving path of the unmanned vehicle and the current obstacle information around the vehicle detected by the perception 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 Patents(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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