Path planning system and method for vehicle model

A vehicle model and path planning technology, applied in the field of vehicle model path planning system, can solve problems such as not suitable for vehicle driving, unable to meet vehicle incomplete constraints, safety issues, etc.

Active Publication Date: 2019-10-22
SHANGHAI INSTITUTE OF TECHNOLOGY
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0003] Existing path planning methods based on grid maps (global search algorithms such as a_star, d_star algorithms) all search for a globally optimal path between a given starting point and

Method used

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  • Path planning system and method for vehicle model
  • Path planning system and method for vehicle model
  • Path planning system and method for vehicle model

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Embodiment Construction

[0093] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0094] see figure 1 , a path planning system for a vehicle model, comprising: a map generation unit, used to generate a grid map for path planning; a perception unit, used to sense and detect obstacle information around the vehicle model; a fusion positioning unit, used The vehicle model is positioned; the global path generation unit is used to generate the global path from the initial point to the target point; the global path is composed of a series of path points, and the path points are integrated t...

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Abstract

The present invention provides a path planning system and method for a vehicle model. The system comprises: a map generating unit for generating a grid map available for path planning; a sensing unitfor sensing and detecting obstacle information around the vehicle model; a fusion positioning unit for positioning the vehicle model; a global path generating unit for generating a global path from aninitial point to a target point and consisting of a series of path points which can be integrated together to form a path; a local path following unit for tracking the global path and outputting thespeed parameter corrected value of the vehicle model, wherein the speed parameter at least includes the front wheel declination angle, driving linear velocity, and acceleration of the vehicle model; and a vehicle model motion control unit for controlling the motion of the vehicle model by using the output speed parameter corrected value as an input.

Description

technical field [0001] The present invention relates to the technical field of safe driving of vehicles, in particular to a path planning system and method for vehicle models. Background technique [0002] With the gradual development of artificial intelligence, unmanned smart devices such as unmanned vehicles have attracted more and more attention from various industries and research institutions, and foreign countries have already put unmanned vehicles in specific scenarios into trial operation. Path planning is one of the key technologies of unmanned vehicles, and it is the prerequisite for unmanned vehicles to drive safely on the road, and driving safety has always been the most important issue for unmanned vehicles. [0003] Existing path planning methods based on grid maps (global search algorithms such as a_star, d_star algorithms) all search for a globally optimal path between a given starting point and a target point, but the path cannot satisfy the incompleteness o...

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Application Information

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IPC IPC(8): G01C21/26
CPCG01C21/26Y02T10/40
Inventor 吴正赵怀林
Owner SHANGHAI INSTITUTE OF TECHNOLOGY
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