Path rapid generation method in intelligent driving

A technology of intelligent driving and routing, applied in road network navigators, measuring devices, instruments, etc., can solve the problem of no processing logic technology, large amount of calculation of PMM algorithm, difficulty in ensuring the smoothness of obstacle avoidance paths and selecting appropriate safety distances, etc. question

Inactive Publication Date: 2019-04-23
EAST CHINA JIAOTONG UNIVERSITY
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  • Abstract
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Problems solved by technology

[0003] Problems and shortcomings of existing technical solutions: it is difficult to ensure the smoothness of the obstacle avoidance path and select an appropriate safety distance by using the A* (A star) algorithm; the PMM algorithm has a large amount of calculation
[0004] So far, there is no effective processing logic technology that can simplify the calculation amount of the algorithm and improve the real-time performance of the path

Method used

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  • Path rapid generation method in intelligent driving
  • Path rapid generation method in intelligent driving
  • Path rapid generation method in intelligent driving

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Embodiment Construction

[0067] In order to make the content of the present invention clearer and easier to understand, the content of the present invention will be further described below in conjunction with the accompanying drawings. Of course, the present invention is not limited to this specific embodiment, and general replacements known to those skilled in the art are also covered within the protection scope of the present invention.

[0068] The following is attached figure 1The present invention will be described in further detail with specific examples. It should be noted that the drawings are all in a very simplified form, using imprecise scales, and are only used to facilitate and clearly achieve the purpose of assisting in describing the present embodiment.

[0069] see figure 1 , in this embodiment, a method for quickly generating a path in intelligent driving, comprising:

[0070] Step 01: Determine the positions of the starting point and the ending point of the path to be generated; ...

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Abstract

The invention provides a path rapid generation method in intelligent driving. The path rapid generation method includes the steps that 01, the positions of the starting point and the ending point of ato-be-generated path are determined; 02, the heading angles of the starting point and the ending point of the to-be-generated path are determined; and 03, a vehicle passable path connecting the starting point and the ending point is generated, and the vehicle passable path meets a vehicle kinematics model. Higher system real-time performance can be achieved in intelligent driving, the algorithmiccalculation difficult is lowered, algorithmic real-time performance is further improved, the learning rate is further introduced, and algorithmic convergence performance is improved.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a method for quickly generating paths in the process of intelligent driving. Background technique [0002] In the process of automatic driving such as obstacle avoidance, the car needs to perform local path planning. Commonly used methods include A* algorithm and PMM algorithm. The A*(A-Star) algorithm is the most effective direct search method for solving the shortest path in a static road network, and it is also an effective algorithm for solving many search problems. The closer the distance estimate in the algorithm is to the actual value, the faster the final search. The PMM algorithm is a periodic method of moments. [0003] Problems and shortcomings of existing technical solutions: it is difficult to ensure the smoothness of the obstacle avoidance path and select a suitable safety distance by using the A* (A star) algorithm; the PMM algorithm has a large amoun...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 陈晓玥刘雄
Owner EAST CHINA JIAOTONG UNIVERSITY
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