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Path planning method for unmanned vehicle under structured environment

An unmanned vehicle and path planning technology, applied in vehicle position/route/altitude control, road network navigator, two-dimensional position/channel control, etc., can solve the behavior of vehicles behind without consideration, traffic accidents, Consider issues such as traffic signs for unmanned vehicles

Active Publication Date: 2018-09-11
五方智能车科技有限公司
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  • Abstract
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AI Technical Summary

Problems solved by technology

The above-mentioned patents do not consider the behavior of vehicles behind when changing lanes, nor do they consider the traffic signs encountered by unmanned vehicles during driving, which may easily cause traffic accidents in the process of automatic driving

Method used

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  • Path planning method for unmanned vehicle under structured environment
  • Path planning method for unmanned vehicle under structured environment
  • Path planning method for unmanned vehicle under structured environment

Examples

Experimental program
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Embodiment Construction

[0083] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0084] Such as figure 1 As shown, a path planning method for unmanned vehicles in a structured environment includes the following steps:

[0085] Step S1, positioning. Specifically, such as figure 1 As shown in the first dotted box, the following sub-steps are included:

[0086] Step S101, obtaining global map information and vehicle status information;

[0087] Specifically, the global map information includes the coordinates of the path point (x i ,y i ), i∈N, traffic sign information; the vehicle status information includes the coordinates of the unmanned vehicle (x c ,y c ), speed V c , acceleration a c , towards the rate of change θ c ’, toward θ c .

[0088] Step S102, calculating the global positioning point;

[0089] Specifically, calculate the coordinates of the vehicle (x c ,y c ) to each global path point coordinate (x i ,y i ), fi...

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Abstract

The invention provides a path planning method for an unmanned vehicle under the structured environment, and comprises the following steps: S1, positioning; S2, analyzing the road condition of the current lane, determining whether complete re-planning needs to be carried out or not, and if yes, turning to the step S3, if not, S4, carrying out the complete re-planning; S4, updating a local planningresult. The invention aims to design a planning method of an unmanned vehicle under a structured environment integrating path planning and channel changing decision, so that the safety and the comfortof the running of the unmanned vehicle are guaranteed.

Description

technical field [0001] The invention belongs to the technical field of unmanned driving, and in particular relates to a path planning method for unmanned vehicles in a structured environment. Background technique [0002] In recent years, with the development of science and technology, driverless cars have gradually changed from concept to reality. An unmanned vehicle is a kind of intelligent vehicle, which can also be called a wheeled mobile robot. It mainly relies on an intelligent driver with a computer system in the vehicle to realize unmanned driving. Unmanned driving technology mainly includes four parts: perception of environmental information, intelligent decision-making of driving behavior, planning of collision-free paths, and vehicle motion control. Among them, the planning module is a very important part of unmanned driving technology, which plays a connecting role for environmental perception and motion control. [0003] Path planning is an important part of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01C21/34
CPCG01C21/3446G05D1/0212
Inventor 孙宏滨吴金强马荣波王潇辛景民郑南宁
Owner 五方智能车科技有限公司
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