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A vehicle path planning method and device

A vehicle routing and vehicle technology, applied in the field of vehicles, can solve problems such as limitations of vehicle routing planning

Active Publication Date: 2022-07-29
SAIC MOTOR
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] In view of this, the embodiments of the present invention provide a vehicle path planning method and device to solve the problem that path planning algorithms in the prior art have limitations for vehicle path planning in the face of increasingly complex dynamic environments

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  • A vehicle path planning method and device
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  • A vehicle path planning method and device

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Embodiment Construction

[0088] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0089] In this application, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also no Other elements expressly listed, or which are also inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the ph...

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Abstract

The present application discloses a vehicle path planning method and device, obtaining lane centerline information, establishing a frenet coordinate system based on the lane centerline information; using an artificial potential field method to process the static environment where the vehicle is located, and determining a semi-global path, based on The semi-global path is combined with the dynamic environment of the vehicle, that is, combined with the initial heading angle of the vehicle and the lateral offset of the vehicle relative to the road baseline, to determine multiple candidate paths, and use the cost function to determine the lowest cost from all candidate paths. The optimal local path is converted to the Cartesian coordinate system, so that the vehicle travels based on the optimal local path in the Cartesian coordinate system, which meets the requirements of planning an optimal local path in a complex dynamic environment, which can improve the performance of the planning algorithm. Real-time and robust.

Description

technical field [0001] The present invention relates to the technical field of vehicles, and more particularly, to a vehicle path planning method and device. Background technique [0002] Vehicle path planning refers to providing a safe and collision-free path for the vehicle to reach the target position in an environment with obstacles, considering vehicle dynamics constraints and complying with traffic rules. As the dynamic environment in which the vehicle is located is increasingly complex and has a large number of uncertain factors, the requirements for vehicle path planning are also getting higher and higher. The commonly used path planning algorithms include the path planning algorithm based on potential field method, the path planning algorithm based on search, the path planning algorithm based on sampling and the path planning algorithm based on discrete optimization. [0003] In the path planning algorithm using the potential field method, the constructed potential...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34
CPCG01C21/3415G01C21/3453
Inventor 张智能李晓芸张显宏梁伟铭
Owner SAIC MOTOR