A collaborative local path planning method based on v2x communication and binocular vision

Abstract

The present invention requests protection of a collaborative local path planning method based on V2X communication and binocular vision. The OBU obtains vehicle body information and environmental information through dual front-facing cameras, OBD equipment, and V2X communication and transmits them to the collaborative local path planning controller; then uses the traffic object hybrid situation estimation model to predict the state of the traffic object, and then passes the multi-source data The fusion algorithm fuses the traffic object information after the situation estimation with the traffic rules for spatiotemporal data fusion, and then constructs a high-reliability traffic road map through the coordinate mapping model of the fused traffic data, and then combines the vehicle information with the self-vehicle situation The estimation model calculates the situation of the own vehicle, and then calculates the optimal smooth driving path of the current vehicle by improving the local path planning algorithm; finally transmits the path to the OBU and broadcasts it to other vehicles through V2X. The method combines line-of-sight and non-line-of-sight traffic object state perception, and improves the accuracy of vehicle environment perception and local path planning.

Description

Technical field [0001] The present invention belongs to the field of intelligent network vehicles and intelligent transportation involving a local path planning method based on V2X communication and binocular vision. Background technique [0002] With the rapid increase in the number of vehicles in my country, the number of traffic accidents is also increasing, most of which traffic accidents are caused by improper operation of the driver. In an emergency, the driver needs a certain reaction time, and it is difficult to make the best decisions, which are potential factors that lead to traffic accidents. Therefore, the impact of reducing human factors on traffic accidents is now increasingly concerned. Before an accident occurs, the vehicle can automatically take corresponding measures to avoid traffic accidents, such vehicle active safety technology is very important for preventing traffic accidents. Local path planning is one of the key technologies of vehicle active safety. Tra...

AI Technical Summary

Problems solved by technology

[0004] The invention aims at the problems that a single vehicle has a small range of environmental perception, low reliability of environmental perception information, and inability to effectively detect obstacle information on the road.

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