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Method and device for path planning

A technology for path planning and obstacles, applied in two-dimensional position/course control, vehicle position/route/height control, instruments, etc. Accuracy of driving trajectory, etc.

Active Publication Date: 2020-12-01
BEIJING SANKUAI ONLINE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, in practical applications, the interference degree of obstacles around the unmanned equipment to the unmanned equipment is different. Some obstacles have a higher degree of interference to the unmanned equipment, and some are lower. The driving trajectory of the obstacle is used for path planning, and the degree of interference of different obstacles to the unmanned equipment is not considered, so the accuracy of the final planned driving trajectory cannot be guaranteed.

Method used

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  • Method and device for path planning
  • Method and device for path planning
  • Method and device for path planning

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Embodiment Construction

[0053] In order to make the purpose, technical solutions and advantages of this specification more clear, the technical solutions in this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.

[0054] The technical solutions provided by each embodiment of this specification will be described in detail below in conjunction with the accompanying drawings.

[0055] figure 1 A flow diagram of a path planning method provided in this manual, specifically including the following steps:

[0056] S101: Obtain the driving trajectory corresponding to the unmanned driving device in the...

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Abstract

The invention discloses a path planning method and device. The unmanned equipment can determine the interference value of each obstacle to the unmanned equipment according to a first reference track and a second reference track, and the interference degree of each obstacle on the unmanned equipment from the past set time to the future set time can be effectively reflected and the path planning canbe performed through combining with the interference degree. Therefore, it can be guaranteed to a certain extent that the unmanned equipment can plan the driving track avoiding obstacles with the large interference degree on the unmanned equipment, and thus the accuracy and the rationality of the driving track planned by the unmanned equipment are improved.

Description

technical field [0001] This specification relates to the field of unmanned driving technology, in particular to a method and device for path planning. Background technique [0002] With the continuous development of information technology, unmanned driving technology has been widely used in various fields. [0003] In order to ensure the smooth driving of the unmanned equipment, it is usually necessary to plan the trajectory of the unmanned equipment. In the prior art, the unmanned driving equipment mainly performs path planning by observing the driving track of the obstacle vehicle around the unmanned equipment. [0004] However, in practical applications, the interference degree of obstacles around the unmanned equipment to the unmanned equipment is different. Some obstacles have a higher degree of interference to the unmanned equipment, and some are lower. The path planning is based on the trajectories of the obstacles that are detected, and the degree of interference o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223
Inventor 樊明宇任冬淳杨秋实夏华夏李鑫朱炎亮
Owner BEIJING SANKUAI ONLINE TECH CO LTD