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Multi-vehicle obstacle avoidance path planning method

A path planning and multi-vehicle technology, applied in the field of transportation, to achieve the effect of improving the scope of application scenarios, avoiding planning confusion, and high authority

Active Publication Date: 2019-12-20
广州智湾科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to overcome the above-mentioned problems in the prior art, and provides a multi-vehicle obstacle avoidance path planning method, which solves the problem of how to dynamically adjust the paths of multiple vehicles during actual driving to achieve safe driving

Method used

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Embodiment 1

[0058] Such as Figures 1 to 3 As shown, this embodiment provides a multi-vehicle obstacle avoidance path planning method, which solves the problem of how to dynamically adjust the paths of multiple vehicles during actual driving to achieve safe driving.

[0059] A multi-vehicle obstacle avoidance path planning method, characterized in that the method comprises:

[0060] Planning the travel path of the selected vehicle on the target road and storing the planned travel path of the selected vehicle;

[0061] Dividing the driving area of ​​the target road into multiple road section areas and dividing the planned selected vehicle driving path into multiple driving road sections according to the road section areas;

[0062] When the selected vehicle travels along the planned selected vehicle travel route and is a certain distance away from the second travel segment, perform a roadblock location query on the segment area corresponding to the second travel segment in the area divisi...

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Abstract

The invention relates to a multi-vehicle obstacle avoidance path planning method in the field of traffic. The method comprises the following steps of planning a driving path of a selected vehicle on atarget road and storing a planned driving path of the selected vehicle to a processor; dividing a driving region of the target road into a plurality of road section regions, and dividing the planneddriving path of the selected vehicle into a plurality of driving road sections according to the road section regions; when the vehicle travels for a certain distance, carrying out roadblock position query on the road segment region; judging whether a roadblock exists on a second driving road section or not according to a query result and other vehicle driving paths; and re-planning the second driving road section and a third driving road section under a condition that the roadblock is queried on the second driving road section or there is a possibility that the selected vehicle collides with other vehicles, and storing the second driving road section and the third driving road section to the processor. According to the method, a problem of how to dynamically adjust the paths of multiple vehicles in an actual driving process in order to realize safe driving is solved.

Description

technical field [0001] The present invention relates to the traffic field, and more specifically, relates to a multi-vehicle obstacle avoidance path planning method. Background technique [0002] Autonomous driving technology is currently a hot research topic in the direction of artificial intelligence, and obstacle avoidance is a very important part of the driving process of autonomous vehicles. The global path planning of the self-driving vehicle plans an optimal path for the vehicle under the known environmental map information, but the vehicle is in the unpredictable and highly dynamic urban road environment during the forward process, and obstacles are likely to appear On the planned global path, some obstacles (pedestrians or vehicles, etc.) may appear dynamically on the path during the progress. Self-driving vehicles must somehow react to these unpredictable events by performing local obstacle avoidance so that they can still reach their destination and complete thei...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 黄翰陈本雄张宏辉
Owner 广州智湾科技有限公司
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