Local path planning method for unmanned vehicles based on model prediction

A technology of unmanned vehicles and local path planning, which is applied in the direction of vehicle position/route/height control, motor vehicles, measuring devices, etc., to achieve the effect of convenient calculation

Active Publication Date: 2022-05-10
TIANJIN UNIV
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  • Application Information

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Problems solved by technology

However, the high-calculation sampling process has become the biggest obstacle in its practical application.

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  • Local path planning method for unmanned vehicles based on model prediction
  • Local path planning method for unmanned vehicles based on model prediction
  • Local path planning method for unmanned vehicles based on model prediction

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Embodiment Construction

[0056] In order to more clearly illustrate the purpose, technical solutions and advantages of the present invention, the basic framework of model prediction local path planning, the processing of typical road environments in the path planning process, the simulation verification of model prediction path planning in typical road environments, etc. Several aspects will further explain the present invention. It should be understood that the specific design methods described here are only used to explain the present invention, and are not intended to limit the present invention.

[0057] 1. The basic framework of model prediction local path planning

[0058] Model prediction deals with path planning, which is equivalent to an optimization problem. The biggest advantage of this method is that it can easily take into account the vehicle's own constraints and people's various expectations for the path. In order to reduce the complexity of calculation and improve the calculation spe...

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Abstract

The invention discloses a method for planning a local path of an unmanned vehicle based on model prediction. Step 1, establishing a kinematics model of an unmanned vehicle; Approximation of the driving environment; step 3, fitting the lane line and road edge curve; step 4, constructing the objective function J, the first and second items of the objective function represent the distance between the predicted value and the reference position of the center line of the main lane The deviation; the third item represents the deviation between the heading angle of the predicted output and the main lane centerline heading angle, so as to ensure that the vehicle heading angle is the same as the road heading angle, and the front wheel rotation angle will not change suddenly; the fourth item ensures that the vehicle follows the reference speed Carry out driving; The fifth item is to avoid the obstacles existing on the current lane and avoid collisions. Compared with the prior art, the present invention ensures fast and efficient path planning, and facilitates the calculation of the shortest distance between the main vehicle and surrounding vehicles and obstacles.

Description

technical field [0001] The present invention relates to the field of path planning of unmanned vehicles, in particular to a model prediction method for local path planning of unmanned vehicles with typical road scene decision-making. Background technique [0002] The local path planning of unmanned vehicles is based on the global path planning to find a real-time route for the vehicle that conforms to the principles of vehicle kinematics and dynamics, can avoid dynamic and static obstacles, and conforms to traffic rules. In view of the above constraints and the uncertainty brought about by real-time changes in the external environment, the local path planning of unmanned vehicles has become a complex decision-making and control problem. Researching efficient algorithms suitable for real-time path planning of unmanned vehicles has always been the goal of many unmanned vehicle researchers. [0003] Some traditional path planning algorithms, such as artificial potential field ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G01C21/34
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0276G01C21/3415G05D2201/0212
Inventor 王一晶代立业左志强
Owner TIANJIN UNIV
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