Method and device for dynamic path planning
A technology of dynamic routing and preset routing, which is applied in traffic control systems, instruments, and traffic control systems of road vehicles, and can solve the problems of not considering the parking status of vehicles and difficulty in providing driving routes, etc.
Inactive Publication Date: 2019-12-17
北京踏歌智行科技有限公司
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Problems solved by technology
The existing path planning can only give the optimal path from the starting point to the end point, and the process of obtaining the optimal path does not consider the specific parking state of the vehicle, so it is difficult to provide a more reasonable and accurate driving path
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[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0024] The dynamic path planning method provided by the embodiment of the present invention can be used for unmanned vehicles, for example, passenger vehicles or mining vehicles.
[0025] Taking unmanned mining vehicles as an example, the terminal position of mining vehicles can be the loading area or the unloading area. When the terminal position of the mining vehicle is the loading area, the starting position of the mining vehicle can be the un...
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The invention provides a method and device for dynamic path planning. The method comprises the following steps that an intersection point A of a preset path of a vehicle and a target course is obtained, wherein the target course is a parking direction of the vehicle at the position of a target parking point P; after the vehicle passes through the intersection point A, front wheels of the vehicle are controlled to travel to a halt point B in the direction away from the target halt point P at a first fixed rotation angle, and the front wheels of the vehicle are controlled to reverse from the halt point B to a point C in which the vehicle body direction is consistent with the target course at a second fixed rotation angle; and the vehicle is controlled to move backwards from the point C to the target parking point P. By means of the technical scheme, a more reasonable and intelligent dynamic path planning can be provided for the running process of the vehicle.
Description
technical field [0001] The invention relates to the field of intelligent driving, in particular to a method and device for dynamic path planning. Background technique [0002] In intelligent driving, the dynamic planning of the path plays a vital role in the driving process. Existing route planning can only give the optimal route from the start point to the end point, and the process of obtaining the optimal route does not consider the specific parking state of the vehicle, so it is difficult to provide a more reasonable and accurate driving route. Contents of the invention [0003] In view of this, embodiments of the present invention provide a method and device for dynamic route planning, which can provide a reasonable and accurate driving route. [0004] In the first aspect, the embodiment of the present invention provides a method for dynamic path planning, including: obtaining the intersection point A of the preset path of the vehicle and the target heading, where th...
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IPC IPC(8): B60W30/00G08G1/0967G08G1/0968
CPCB60W30/00G08G1/096725G08G1/096833
Inventor 岳志阳余贵珍冯冲郑迪黄立明
Owner 北京踏歌智行科技有限公司