Local path planning method for automatic driving system
A local path planning and automatic driving technology, applied in control/regulation systems, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as increased hardware costs, large computing resources, and unfavorable investigations. The effect of avoiding the risk of collision, high calculation efficiency, and improving safety
Pending Publication Date: 2020-09-11
KUNTAI VEHICLE SYST CHANGZHOU CO LTD +1
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Problems solved by technology
Local path planning based on random sampling is fast, but once something goes wrong, it is not conducive to troubleshooting; local path planning based on graph search requires obstacle map information such as grids, which occupies more computing resources and increases hardware costs.
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[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0025] See figure 1 As shown, one embodiment of the present invention is a method for local path planning of an automatic driving system, and the method includes the following steps:
[0026] Step S1, in the process of the vehicle traveling according to the global planning path, judge whether there is an obstacle within the first distance in front of the current position of the vehicle on the global planning path, if not, continue to follow the global planning...
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The invention provides a method for planning a local path of an automatic driving system, which comprises the following steps of: S1, judging whether an obstacle exists in a first distance in front ofthe current position of a vehicle on a globally planned path or not in the process that the vehicle advances according to the globally planned path, and if not, continuing to advance according to theglobally planned path; if so, executing the step S2; s2, judging whether a reserved route for selective switching exists or not, and if not, continuing to advance according to the globally planned route; if yes, setting a local target point on the reserved route, and executing the step S3; s3, taking the current position of the vehicle as a starting point, taking the local target point as an endpoint, carrying out local path planning, generating a local path, judging whether the local path can pass or not, and if so, switching the local path to advance; and if not, continuing to advance according to the global planned path. The method improves the safety of automatic driving, is high in calculation efficiency, and is simple and effective.
Description
technical field [0001] The invention relates to the field of automatic driving, in particular to a method for local path planning of an automatic driving system. Background technique [0002] Path planning refers to the route selection from one location to another location, and it includes local path planning and global path planning. The global path planning algorithm refers to the selection of the nearest overall route from the starting point to the end point; the local path planning is the process of planning a passable local route from the current point within a certain local range according to the surrounding obstacle environment . Local path planning is an important part of planning decision-making, and its implementation methods are divided into two types based on random sampling and graph search. Local path planning based on random sampling is fast, but once a problem occurs, it is not conducive to troubleshooting; local path planning based on graph search requires...
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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0231G05D1/0255G05D1/0257
Inventor 贾士伟宦堃堃孙忠潇黄叶星
Owner KUNTAI VEHICLE SYST CHANGZHOU CO LTD