Driverless vehicle path planning method and device

Abstract

The invention discloses a driverless vehicle path planning method and device. The driverless vehicle path planning method comprises the following steps: S1, locating a current vehicle: obtaining the location of the current driverless vehicle as a starting point according to a differential GPS / INS system, then selecting a target point, loading the data of a global map, and reading the vehicle status information; S2, planning a global path: establishing a global raster map according to the coordinate information of the starting point and the target point, using a modified artificial potential field-ant colony algorithm to plan the global path, and generating a desired path; S3, driving and analyzing the current road condition by the vehicle, and analyzing and judging whether local path planning is needed or not according to the obtained sensor information; S4, selecting a local path planning strategy; and S5, sending the generated path information to a vehicle control layer. The invention improves the running efficiency of the program; and the vehicle can efficiently and reasonably plan a safe path in a complex and varied environment; therefore, the global optimality and local real-time performance of the path planning are ensured.

Description

technical field [0001] The present invention relates to the technical field of unmanned vehicles, in particular to a method and device for path planning of unmanned vehicles. Background technique [0002] The path planning of unmanned vehicles is to plan the path according to certain principles (such as the shortest path, the least energy consumption, and the shortest time) in the presence of obstacles. Unmanned driving technology mainly includes four parts: perception of environmental information, decision-making of driving behavior, collision-free path planning, and vehicle motion control. The path planning module is a very important part of unmanned driving technology, which plays a connecting role in environmental perception and motion control. [0003] The path planning of unmanned vehicles can be divided into global path planning and local path planning. Global path planning is a kind of path planning when all obstacle information is known, which belongs to static pa...

AI Technical Summary

Problems solved by technology

The road environment is becoming more and more complex and changeable, and the traditional single path planning algorithm can no longer meet the requirements well. The new development will tend to the following aspects: First, improve on the basis of the original path planning algorithm. Although the difficulty is small, the effect is limited The second is the combination of traditional path planning algorithms and new intelligent algorithms, such as the combination of artificial potential field method and ant colony algorithm; the third is multi-sensor information fusion for local path planning. It is obtained from sensors. It is difficult for a single sensor to guarantee the accuracy and reliability of the input information. The information obtained by multiple sensors is redundant and complementary.

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