Driverless vehicle local path planning method with time consistency

A technology for local path planning and unmanned vehicles, applied in directions such as road network navigators, which can solve problems such as the influence of planning results, the inability to guarantee the accuracy and safety of vehicle path tracking, and the poor periodic consistency of local planning path methods.

Active Publication Date: 2018-05-29
BEIJING UNIV OF TECH
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AI Technical Summary

Problems solved by technology

[0006] For the current local path planning methods based on path generation and path selection for unmanned vehicles, the planned curves lack vehicle kinematics constraints, cannot guarantee the accuracy and safety of vehicle path tracking, and rely on optimiza

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  • Driverless vehicle local path planning method with time consistency
  • Driverless vehicle local path planning method with time consistency
  • Driverless vehicle local path planning method with time consistency

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Embodiment Construction

[0082] The invention provides a method for planning a local path of an unmanned vehicle with time consistency, comprising the following steps:

[0083] Step 1, judge the attributes of the planning cycle, and determine the planning distance of multiple segments

[0084] At the beginning of each planning cycle, it is first necessary to determine whether the current planning cycle is the initial planning, if it is the initial planning, the weak planning distance d=0, the strong planning distance D=V*T, and the planning distance R=d+D; If it is not the initial planning, the weak planning distance d=V 2 / 2a+BV+A, strong planning distance D=V*T, planning distance R=d+D. Among them, V is the obstacle approaching speed measured by the vehicle body radar; T is the safe obstacle avoidance time for the obstacle avoidance decision when driving the car manually; a is the maximum acceleration of the vehicle braking; B is the delay time of the brake control subsystem; A is the set safe sto...

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Abstract

The invention discloses a driverless vehicle local path planning method with time consistency. The method comprises the steps: firstly, vehicle motion differential constraints are increased for a planning path curve, so that a vehicle can track a generated trajectory accurately; secondly, model parameters of a path planning trajectory curve model are promoted, a greater degree of freedom is increased for the planning path, and a curvature constraint problem is conveniently transformed into a mathematical solving optimization problem; and finally, results of periodic optimization before and after the local path method is obtained through periodic optimization solving have large difference, and the problem of jitter of the vehicle during real-time path tracking is caused. A local path planning section is divided into two parts, namely a weak planning section and a strong planning section; the weak planning section is obtained by a strong planning result of a last planning period; throughplanned segmentation, the time consistency of the planning results can be guaranteed, and the local path planning can also have high obstacle avoidance ability.

Description

technical field [0001] The invention belongs to the research field related to local path planning of intelligent vehicles, and relates to a method for local path planning of unmanned vehicles with time consistency. technical background [0002] According to statistics, in 2016, my country's domestic car sales reached 28.028 million, an increase of 13.7% compared to 2015, ranking first in global sales for eight consecutive years. By the end of 2015, the total mileage across the country had reached 4,577,300 kilometers, an increase of 145,000 kilometers year-on-year. The increase in car ownership and the total mileage of roads has led to frequent traffic accidents and serious traffic congestion. Analysis of urban traffic data by experts shows that human factors are the main cause of urban traffic accidents. In view of this, countries all over the world have paid full attention to the Intelligent Transportation System and invested a lot of manpower and material resources in i...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/34
Inventor 段建民田晓生马学峥陈强龙
Owner BEIJING UNIV OF TECH
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