Path planning method for autonomous vehicle

A path planning and automatic driving technology, which is applied in vehicle position/route/height control, motor vehicles, non-electric variable control, etc., can solve problems such as ignoring vehicle attitude information, simple functions of unmanned vehicles, and effective vehicle control

Inactive Publication Date: 2018-12-04
FAW VOLKSWAGEN AUTOMOTIVE CO LTD
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  • Abstract
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  • Application Information

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Problems solved by technology

[0003] However, the above-mentioned path planning method for autonomous vehicles only considers the motion conditions of the vehicle from a two-dimensional perspective, ignores the vehicle attitude information, and does not take into account the instructions of the planning layer to the vehicle actuators, resulting in The function of the unmanned vehicle of the planning method is simple, and at the same time, it cannot effectively control the vehicle under complex working conditions

Method used

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  • Path planning method for autonomous vehicle
  • Path planning method for autonomous vehicle

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Experimental program
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Embodiment 1

[0030] refer to figure 1 , figure 2 or image 3 , a method for path planning of an autonomous vehicle provided in this embodiment, the method includes the following steps:

[0031] S1. The global path planning layer of the vehicle sets the starting point and the end point of the task, calculates the feasible path, selects the optimal path and outputs it to the local path planning layer of the vehicle;

[0032] S2. The local path planning layer of the vehicle generates the path track points of the vehicle according to the optimal path and the current parameters of the vehicle, and each of the path track points includes the position information, speed information, attitude information and Execution action information;

[0033] S3. The local path planning layer of the vehicle transmits the path track points in the form of an instruction set to the vehicle execution system, and the vehicle execution system executes all the instructions in the instruction set.

[0034] In the ...

Embodiment 2

[0038] see figure 1 or figure 2 , the path planning method of the self-driving vehicle provided by the embodiment of the present invention, the local path planning layer of the vehicle packs and converts the information of the generated path track points into the form of an instruction set, and the support of the instruction set is the result of the joint action of hardware and software. The position information, speed information, attitude information and action information to be executed in the command set need to be combined by adjusting the hardware and software of the vehicle controller, and then transmitted to the vehicle execution system through the CAN bus and the intelligent gateway.

[0039]The vehicle execution system includes N actuators, and the instruction set containing path planning point information is composed of four N-dimensional vectors set in the Cartesian three-dimensional coordinate system The N×4 matrix composed of is denoted as in,

[0040] N-...

Embodiment 3

[0046] see figure 1 or figure 2 , the embodiment of the present invention provides a path planning method for an autonomous vehicle, when it is necessary for the vehicle to transport the items in the vehicle to a designated location and deliver them to a specific object. The actions that need to be completed are:

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Abstract

The invention discloses a path planning method for an autonomous vehicle. In the method, a vehicle motion model is placed in a three-dimensional coordinate system, generated path trajectory points contain information of a vehicle position, a vehicle speed, an included angle between the vehicle speed and a vehicle body, and actuator action code, and the problem that the traditional path planning method for the autonomous vehicle considers the motion working condition of the vehicle only from a two-dimensional point of view, vehicle attitude information and an instruction of a planning layer tothe vehicle actuator are ignored, an unmanned vehicle based on the path planning method is caused to have a simple function, and the vehicle can not be effectively controlled under a complex conditioncan be solved. The path planning method for the autonomous vehicle disclosed in the invention considers the motion working condition of the vehicle from a three-dimensional angle, the instruction ofthe planning layer to the vehicle actuator is also considered, and the functions of the unmanned vehicle are enriched.

Description

technical field [0001] The invention relates to the field of automatic driving vehicles, in particular to a path planning method for automatic driving vehicles. Background technique [0002] An autonomous vehicle is a smart car that perceives the road environment through an on-board sensor system, automatically plans a driving route, and controls the vehicle to reach a predetermined target. For autonomous vehicles, path planning is an important factor related to the safety and stability of vehicles. At present, in the path planning method adopted by self-driving vehicles, only the position coordinate information (X, Y, φ) of the vehicle is considered, where X, Y, φ are all scalar quantities, such as figure 1 In the two-dimensional motion model of the vehicle shown, X represents the abscissa of the current position of the vehicle, Y represents the ordinate of the current position of the vehicle, and φ represents the yaw angle of the vehicle. [0003] However, the above-ment...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0229G05D1/0257G05D1/0278G05D2201/0212
Inventor 谢高伟陶维辉陈川王欢凌凯尤洋
Owner FAW VOLKSWAGEN AUTOMOTIVE CO LTD
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