Dynamic trajectory planning method for unmanned vehicle based on local optimum

An unmanned vehicle, trajectory planning technology, applied in vehicle position/route/height control, motor vehicle, non-electric variable control and other directions, can solve the problem of rarely considering passenger comfort and road driving efficiency

Active Publication Date: 2019-10-22
NORTHEASTERN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the existing path planning algorithms for unmanned vehicles, the trajectory planning research is generally based on the given obstacle vehicle cond

Method used

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  • Dynamic trajectory planning method for unmanned vehicle based on local optimum
  • Dynamic trajectory planning method for unmanned vehicle based on local optimum
  • Dynamic trajectory planning method for unmanned vehicle based on local optimum

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Embodiment Construction

[0065] In order to better explain the present invention and facilitate understanding, the present invention will be described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0066] The present invention assumes that the unmanned vehicle is driving on a structured road. In the three-lane model, it is assumed that there are obstacle vehicles in the front and rear of the adjacent lane of the unmanned vehicle and the lane for the sake of rigor. Since no matter which lane the unmanned vehicle is in, the target lane selected when changing lanes according to traffic rules must be an adjacent lane, that is, when the unmanned vehicle is in the middle lane, it can only change lanes to the left or right, which is symmetrical, so can be simplified as figure 2 Two-lane model shown.

[0067] The present invention provides a dynamic trajectory planning method for unmanned vehicles based on local optimality, such as figure 1 As shown, the metho...

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Abstract

The invention belongs to the technical field of a path planning for unmanned vehicles, and especially relates to a dynamic trajectory planning method for an unmanned vehicle based on local optimum. The method is characterized by, according to different positions and corresponding different operating conditions of obstacle vehicles on the road, selecting an optimal reference trajectory and carryingout dynamic trajectory planning; analyzing unmanned vehicle lane change intention generation and lane change executable conditions, and according to the prediction of the position and speed of surrounding obstacle vehicles, carrying out fitting to obtain a locally optimal lane change trajectory at the initial moment when obstacle avoidance lane change is decided, and serving the optimal trajectory as a local reference trajectory; and generating a trajectory cluster that can be driven by the unmanned vehicles and combining designed velocity distance and cost functions with a loss function, andselecting an optimal trajectory from the trajectory cluster through nonlinear model predictive control. The method can realize obstacle avoidance, lane change and overtaking in various complex conditions, and also takes into account the comfort of passengers in the unmanned vehicles and road driving efficiency and the like.

Description

technical field [0001] The invention belongs to the technical field of path planning for unmanned vehicles, and in particular relates to a dynamic trajectory planning method for unmanned vehicles based on local optimality. Background technique [0002] With the progress and development of the times, unmanned driving technology has fundamentally brought about social changes. Unmanned driving can essentially change people's lifestyles and travel methods, and is very intelligent. Unmanned vehicles are an important part of the intelligent transportation system. Since unmanned vehicles integrate many fields such as environmental perception, positioning, decision-making, and tracking control, they have the advantages of sensitive response, safe and reliable driving, etc., which can effectively reduce the occurrence of traffic accidents. rate and improve the driving efficiency of vehicles on the road. At present, many high-end technology companies at home and abroad are committed ...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
CPCG05B13/042G05B13/048G05D1/0223G05D1/0289G05D2201/0213
Inventor 梁忠超张欢
Owner NORTHEASTERN UNIV
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