Driving path planning method based on state grid method
A technology of path planning and grid method, applied in two-dimensional position/course control, vehicle position/route/altitude control, non-electric variable control, etc.
Active Publication Date: 2019-01-25
WUHAN UNIV OF TECH
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Problems solved by technology
However, in terms of autonomous driving technology, there is a lack of systematically reflecting the driver's personalized driving characteristics.
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[0082] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0083] In the embodiment of the present invention, the method for generating a personalized reference trajectory for an autonomous vehicle should meet the following requirements:
[0084] First, the advantage of autonomous driving is to avoid the limitations of human perception and judgment, thereby reducing or even eliminating the occurrence of traffic accidents. This requires the path planning system to fully consider the influence of factors such as "people-vehicle-environment" security.
[0085] Second, different drivers have different driving skills, different driving experiences, and differe...
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The invention designs a driving path planning method based on the state grid method. Firstly, according to the external environment information and the initial global reference trajectory of the self-driving vehicle, the vehicle motion state and the surrounding environment information of the vehicle are detected by the vehicle-mounted equipment, and the surrounding environment information of the vehicle is updated in real time. Then, the relevant indexes reflecting the driver's personalized trajectory are extracted through the driving simulator experiment, such as the driver's trajectory preview time, the lateral distance compensation value of the lane centerline and the minimum lateral distance value of the distance obstacle when the vehicle is traveling, and the path search strategy is determined according to the above related indexes. Finally, the preview point state of the local trajectory is determined and the local reference trajectory is generated based on the state grid method.The driving path planning method of the invention comprehensively considers the personalized differences of different drivers in the driving process, and the factors considered are more comprehensive, and can provide support for the personalized development of the automatic driving vehicle.
Description
technical field [0001] The invention belongs to the technical field of unmanned vehicle reference trajectory generation, and in particular relates to a driving path planning method based on a state grid method. Background technique [0002] At present, most of the self-driving cars in the world adopt the "sense-plan-act" (sense-plan-act) three-layer structural model. The surrounding road environment information; then use complex and efficient intelligent algorithms to process environmental information, formulate safe and reliable driving strategies according to traffic regulations, and plan feasible reference trajectories in real time; finally, accurately track the planned local reference trajectories. Among them, "local path planning" is the hub connecting the control layer and the planning layer. The quality of local path planning can directly reflect whether the unmanned vehicle can drive safely, smoothly, and efficiently. Therefore, path planning is the most critical par...
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Login to View More IPC IPC(8): B60W30/14G05D1/02
CPCB60W30/14G05D1/0214
Inventor 褚端峰张超勇刘世东吴超仲
Owner WUHAN UNIV OF TECH