Path planning method, vehicle and computer readable medium

A path planning and vehicle technology, which is applied to vehicle position/route/height control, motor vehicles, road network navigators, etc., and can solve problems such as poor adaptability, inability to meet path planning requirements, and difficulty in meeting kinematic constraints of mining vehicles

Pending Publication Date: 2020-04-17
北京易控智驾科技有限公司
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Problems solved by technology

[0005] In order to solve the technical problems such as the poor adaptability of the path planning method for complex road conditions and the difficulty

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  • Path planning method, vehicle and computer readable medium
  • Path planning method, vehicle and computer readable medium
  • Path planning method, vehicle and computer readable medium

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Embodiment Construction

[0025] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0026] Automatic Driving Vehicle (ADV for short) is a vehicle that can position itself, perceive the surrounding environment through sensors, and rely on computing units to make autonomous decisions and drive. The self-driving vehicle in the present invention may be a mining dump vehicle, and the mining dump vehicle may carry ore goods for fixed-point transportation. For example, for a mining dump truck equipped with an automatic driving system, its working mode can be: go to the loading point in the loading work area to load earth and rocks in the unloaded state, transport the earth and rocks to the unloading work area in the full load state, and unload at the unloading point in the unloading work area Dump the earth and...

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Abstract

The invention discloses a path planning method, a vehicle and a computer readable medium. The path planning method is applied to automatic driving of the vehicle. The path planning method comprises the following steps: obtaining a preprocessing result corresponding to preset request data; obtaining coarse search data of preset planning data according to the preprocessing result; and performing path optimization on the coarse search data to realize path planning. According to the method, a steering switching penalty term and a steering penalty term which are added in a traditional hybrid A* algorithm are improved, and an RS curve heuristic algorithm is adopted, so that extremely high solving capacity is achieved, and the calculation efficiency is improved; meanwhile, it is guaranteed that the planning result can meet the kinematics constraint of the vehicle in the optimization process of the rough search result, the difference of vehicle response characteristics in different full-load and no-load states and the response characteristics of an executing mechanism of a mining dump vehicle are fully considered, and the method is more suitable for a real application scene; and the requirement on the working environment is low, and the adaptability is higher.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a path planning method, a vehicle, and a computer-readable medium. Background technique [0002] Compared with human drivers, autonomous driving has great potential in terms of safety and efficiency. Especially in high-risk and high-intensity mine operation scenarios, the complexity of the scenarios is lower than that of urban traffic scenarios. The application of unmanned driving technology (that is, automatic driving technology) is expected to reduce safety accidents and improve production efficiency. Unmanned driving technology mainly includes modules such as positioning, perception, decision-making, planning, and control. Among them, the planning module directly outputs the driving path trajectory to the control module. Therefore, the operation status of the mining vehicle is inseparable from the planning module. [0003] Autonomous driving technology has been dev...

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Application Information

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IPC IPC(8): G05D1/02G01C21/34
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0276G01C21/3446G01C21/3415G05D2201/0213
Inventor 冯酉南张磊
Owner 北京易控智驾科技有限公司
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