A smart vehicle obstacle avoidance trajectory planning method and device
A trajectory planning and smart car technology, applied in the direction of control devices, vehicle position/route/height control, vehicle components, etc., can solve the problems of reducing the accuracy of smart car obstacle avoidance and not considering obstacle path planning, etc.
Active Publication Date: 2020-08-04
芜湖汽车前瞻技术研究院有限公司 +1
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[0005] In related technologies, the speed of obstacles is not considered for path planning, which reduces the accuracy of smart car obstacle avoidance
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[0167] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0168] figure 1 It is a flow chart of a smart vehicle obstacle avoidance trajectory planning method shown according to an exemplary embodiment, as shown in figure 1 As shown, the method includes:
[0169] In step S101, obtain the position of the own vehicle, the speed of the own vehicle, the position of the relevant obstacles around the own vehicle and the speed of each obstacle;
[0170] In step S102, the positions of all obstacle-avoiding grids are obtained according to the position of each obstacle, and each obstacle-avoiding grid is a grid of a preset size with a preset distance from one side of the corresponding obstacle and no obstacles ;
[0171] In step S103, according to the position of the own vehicle, the speed of the own...
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The embodiment of the invention provides an intelligent vehicle obstacle avoidance trajectory planning method. The intelligent vehicle obstacle avoidance trajectory planning method comprises the stepsthat the positions of obstacle avoidance grids are obtained according to the positions of each obstacle; at least one obstacle avoidance grid path is obtained according to the position of a vehicle,the speed of the vehicle, the speed of the obstacles and the positions of the obstacle avoidance grids; the obstacle avoidance grid path with the lowest cost in the obstacle avoidance grids is used asa target obstacle avoidance grid path; according to the position of the vehicle, the speed of the vehicle and the position of the first target obstacle avoidance grid, an obstacle avoidance track ofthe first target obstacle avoidance grid is obtained; according to the position of any target obstacle avoidance grid, the position of the previous target obstacle avoidance grid passed by the vehiclebefore any target obstacle avoidance grid and the speed of the vehicle, the obstacle avoidance tracks of any target obstacle avoidance grid are obtained; according to the obstacle avoidance tracks corresponding to the target obstacle avoidance grids in the target obstacle avoidance grid paths, the target obstacle avoidance tracks corresponding to the target obstacle avoidance grid paths are obtained. According to the intelligent vehicle obstacle avoidance trajectory planning method, the paths are planned according to the speed of the obstacles, and the obstacle avoidance accuracy is improved.
Description
technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and device for planning an obstacle avoidance trajectory of an intelligent vehicle. Background technique [0002] Facing a complex traffic environment, in the process of automatic driving, there may be accidents due to untimely obstacle avoidance. Therefore, it is necessary to plan the obstacle avoidance trajectory for the smart car. [0003] In the prior art, the planning of the obstacle-avoiding trajectory of the smart car is generally to establish an environment model first and then detect whether there is an obstacle, so as to plan the path according to the position of the obstacle. [0004] In the process of realizing the present invention, the inventor found that there are at least the following problems in the related art: [0005] In the related art, the speed of the obstacle is not considered in the path planning, which reduces the accuracy of the ob...
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IPC IPC(8): B60W30/09B60W30/14G05D1/02
CPCB60W30/09B60W30/14B60W2554/00B60W2554/80B60W2554/801G05D1/0238
Inventor 赛影辉李垚唐得志
Owner 芜湖汽车前瞻技术研究院有限公司