Intelligent vehicle global path planning method based on improved A star algorithm

Abstract

The invention discloses an intelligent vehicle global path planning method based on an improved A star algorithm. The method comprises the following steps that: an outdoor specific area parking lot isdivided into grids, the center of each grid is regarded as a control point, all the control points are put into an L set and numbered, an initial weight matrix OM of each control point is initializedaccording to the space state, a starting point is automatically determined, a target end point is manually selected, and obstacles are dynamically recognized; a globally optimal path is planned according to an intelligent vehicle global path planning method of an improved A star algorithm; and a drivable path is displayed on a user interface, and intersection information, deceleration, steering and other safety prompts are carried out. The problem that intelligent vehicle path planning cannot efficiently plan the shortest path is solved, the purpose of comprehensive driving of outdoor parkinglot shortest path planning and global path obstacle avoidance is achieved, intersection information, deceleration, steering and other safety prompts are provided, and the method is intuitive, clear,complete in function and suitable for path planning of most scenes.

Description

technical field [0001] The invention relates to the technical field of intelligent vehicle path planning, in particular to a global path planning method for intelligent vehicles based on the improved A-star algorithm. Background technique [0002] The intelligent driving car obtains the current position and environmental information through the on-board sensor and the reconstruction of the surrounding environment, and automatically plans to reach the target point. The intelligent driving car is a combination of artificial intelligence, computer vision, control engineering, algorithm fusion and other disciplines. Advanced technology represents the level of scientific research strength and industrial level development, and has a wide range of uses and development prospects in China. Path planning technology is an important research direction in intelligent driving research. Its main purpose is to enable intelligent vehicles to pass obstacles quickly and efficiently to achieve ...

AI Technical Summary

Problems solved by technology

However, because the A-star algorithm consumes a lot of computing time based on the given map information and traversal of nodes, it is difficult to achieve global optimization. The design has poor real-time performance and cannot deal with problems such as new obstacles.

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