Closed loop control-based path planning method and device

Abstract

The present invention provides a closed loop control-based path planning method. The method includes the following steps that: a reference path is acquired; when a first obstacle exists in a circle ofwhich the diameter is a distance between a starting point and a first end point, the first distance of the first obstacle is determined; a first parent circle and a first end point circle are set respectively with the starting point and the first distance adopted as radiuses; a second parent circle is determined from the child circles of the first parent circle; when the coincidence degree of themth parent circle and the first end point circle is larger than a preset first threshold value, a first list and a second list are generated; at the current time point, the first parameters of a vehicle are acquired, and the second parameters of the vehicle at the next time point are calculated, and therefore, a first trajectory set is determined; the first trajectory set is processed according to the first list and the second list; trajectories in the processed first trajectory set are evaluated, so that a first target trajectory can be determined, the acceleration and steering angle of thefirst target trajectory are calculated, and the difference between the end point of the nth target trajectory and the distance of the end point is smaller than a preset second threshold value, a target path is generated. With the closed loop control-based path planning method adopted, the control difficulty of underlying control is decreased.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a closed-loop control-based path planning method and device. Background technique [0002] With the development of artificial intelligence technology and modern manufacturing industry, autonomous driving technology has gradually entered people's daily life, subtly changing the way people travel. Unmanned driving technology can be briefly divided into perception, prediction, positioning, decision-making, planning and control. The main task of the path planning method is to reasonably explore the environment space according to the current vehicle information, and finally plan a path that is easy for the controller to execute and has no collision. On the basis of path planning, motion planning sets the speed, steering angle and other information of the waypoints to make the information of the waypoints more perfect. [0003] For the path planning algorithm, in addition to ...

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Problems solved by technology

[0010] The purpose of the embodiment of the present invention is to provide a path planning method and device based on closed-loop control to solve the problem that the underlying control is not considered in path planning in existing calculations. The problem of the control difficulty of the device

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