A three-layer architecture-based path planning method for unmanned vehicles

Abstract

The invention discloses a path planning method for unmanned vehicles based on a three-layer architecture, which includes the following steps: step 1: building a map, abstracting and mathematically describing the road in the application scene, expressing and storing the road; step 2 : Application, use the road network map that has been built in this specific scene, and realize the planned route on the road network map according to the task requirements. The beneficial effects of the present invention are as follows: (1) The global path planning and the local path planning are taken into consideration by using the three-layer architecture, so that the two are closely connected with the physical platform, and more useful information is provided for the road local path planning, which improves the Planning performance; the third layer of planning execution layer introduces an improved A-star search method based on guidelines, using guidelines and key points, which not only preserves the expected local planning path as much as possible, but also maintains the characteristics of flexible obstacle avoidance.

Description

technical field [0001] The invention belongs to a path planning method, in particular to a path planning method for an unmanned vehicle. Background technique [0002] With the development of the automobile industry, automobiles have increasingly become an important part of social production and daily life; at the same time, automobile safety issues have gradually become the focus of attention. How to improve vehicle driving safety more effectively has become a A common problem faced by governments and research institutions of all countries. Among them, unmanned vehicles are recognized as the best way to greatly reduce traffic safety accidents, and thus become the frontier and hotspot of research in the field of transportation in the world. [0003] Unmanned vehicles are a composite system that integrates environmental perception, path planning, and motion control. Path planning is a bridge between unmanned vehicle environment perception and vehicle control. The key technol...

AI Technical Summary

Problems solved by technology

[0007] The industry separates the design of local path planning and global path planning. The advantage is that the modular design makes each part more versatile and independent, but the disadvantage is that it does not take into account the underlying platform and the global environment as a whole, and the correlation between each other It is not strong enough to cause a lot of useful information to be lost, which is not the best choice for specific driverless car applications

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