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Dynamic planning method and device based on automatic driving

A dynamic planning and automatic driving technology, applied in measurement devices, two-dimensional position/lane control, non-electric variable control, etc., can solve problems such as lane-level planning performance bottlenecks, improve data processing efficiency, and reduce data processing load. , the effect of improving efficiency

Inactive Publication Date: 2020-09-15
WUHAN ZHONGHAITING DATA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Aiming at the technical problems existing in the prior art, the present invention provides a dynamic planning method and device based on automatic driving to solve the performance bottleneck of lane-level planning in long-distance calculation

Method used

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  • Dynamic planning method and device based on automatic driving
  • Dynamic planning method and device based on automatic driving
  • Dynamic planning method and device based on automatic driving

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] Since the vehicle is in the process of automatic driving, only the driving assistance information in the local range ahead in one processing cycle does not need the global path planning results to the end point. Based on this characteristic, the present invention adopts a dynamic planning based on automatic driving Algorithm to solve the performance bottleneck of lane-level planning in long-distance calculation.

[0043] In this embodiment, the long-distance road-level planning results need to be calculated first. In the path planning process in high-precision map navigation, the conventional practice is to directly output the lane-level path planning results. In this way, the high-precision lane-level road network is more complex than the road-level road network, and the amount of map element data involved in lane-level planning is too large, resulting in excessive data processing load per unit time and low efficiency in the early path planning. This step can effectiv...

Embodiment 2

[0059] Such as image 3 As shown, the embodiment of the present invention provides a dynamic planning device based on automatic driving, including:

[0060] The road-level planning module obtains the position coordinates of the starting point and the end point, and matches the position coordinates to the electronic map data to generate a global road-level path planning result;

[0061] The local node selection module selects a road node within a specified range in front of the vehicle as a local destination node in the global road-level path planning result;

[0062] The lane-level planning module performs short-distance lane-level path planning from the current position of the vehicle to the local destination node.

[0063] Further, the local node selection module includes:

[0064] The position acquisition module acquires the current vehicle position information in real time, and determines the position of the vehicle in the global road-level path planning result;

[0065...

Embodiment 3

[0073] An embodiment of the present invention provides a dynamic planning device based on automatic driving, including:

[0074] memory for storing computer software programs;

[0075] The processor is configured to read and execute the computer software program stored in the memory, so as to implement the dynamic programming method based on automatic driving described in Embodiment 1 of the present invention.

[0076] It should also be noted that when the logical instructions in the computer software program can be implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , i...

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Abstract

The invention relates to a dynamic planning method and device based on automatic driving. The method comprises the following steps: firstly, generating a global road-level path planning result; then,in the global road-level path planning result, selecting a road node in a specified range in front of the vehicle as a local destination node; performing short-distance lane-level path planning from the current position of the vehicle to the local destination node; and when the vehicle approaches the local destination node, repeating local destination node selection and lane-level path planning until the vehicle reaches the destination. Firstly, global road-level path planning is generated, so that the initial path planning efficiency can be effectively improved; then, on the basis of road-level planning, short-distance lane-level planning is carried out, so that the accuracy of local path planning is improved on the premise of ensuring the accuracy of global planning, the data processingload in unit time is reduced, and the data processing efficiency is improved.

Description

technical field [0001] The invention relates to the fields of electronic map navigation application and automatic driving, in particular to a dynamic planning method and device based on automatic driving. Background technique [0002] In the process of automatic driving, the vehicle needs to calculate the long-distance path planning results in a limited time and space. The traditional lane-level path planning algorithm first performs road-level planning, and then proceeds from the vehicle to the destination based on the road-level planning. For local lane-level planning, because the high-precision lane-level road network is more complex than the road-level road network, and the map elements involved in lane-level planning are rich, the existing lane-level planning algorithms will have performance bottlenecks in long-distance automatic driving applications. Contents of the invention [0003] Aiming at the technical problems existing in the prior art, the present invention p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/36G05D1/02
CPCG01C21/3658G05D1/0274
Inventor 郑武贞甘霖韩江峰胡阳刘奋
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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