Map path planning method based on combination of improved Astar algorithm and grey wolf algorithm

A path planning and map technology, applied in calculation, calculation model, road network navigator, etc., can solve the problems that the path does not have connectivity and is not suitable for driverless cars

Pending Publication Date: 2020-12-15
上海智驾汽车科技有限公司
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, the path searched by the Astar algorithm does not have connectivity and is not suitable for un

Method used

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  • Map path planning method based on combination of improved Astar algorithm and grey wolf algorithm
  • Map path planning method based on combination of improved Astar algorithm and grey wolf algorithm
  • Map path planning method based on combination of improved Astar algorithm and grey wolf algorithm

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[0065] Example

[0066] like figure 1 The map path planning method based on the combination of improved Astar and gray wolf algorithms is shown, which specifically includes the following steps:

[0067] Step 1. Construct a high-precision map based on data acquisition equipment, the data acquisition equipment includes a Ladybag3.5 panoramic camera and a data acquisition vehicle combined with GPS inertial navigation, and the specific construction method is:

[0068] (1) Use the collection vehicle to stop every 10 meters to collect a picture and the GPS data of the vehicle corresponding to the picture at the moment;

[0069] (2) Change the perspective of the picture and splicing it into a whole map using PS, etc.;

[0070] (3) Since the absolute coordinates of the vehicle are known and the position of each marker relative to the vehicle is known, the absolute coordinates of the marker are known, and arcgis is used to mark the entire map;

[0071] (4) Save the map data and use ...

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Abstract

The invention discloses a map path planning method based on combination of an improved Astar algorithm and a grey wolf algorithm. The map path planning method specifically comprises the following steps: constructing a high-precision map based on data acquisition equipment; introducing a vehicle kinematics model into the Astar algorithm, and importing the vehicle kinematics model into an xml file of the OpenDRIVE; searching an optimal path point in the arcgis derived map data by using the Atar algorithm, and generating a traceable motion track of the vehicle by combining an RS curve with the optimal path point searched by the Atar algorithm; matching the point, line and plane data of the arcgis with thexml file of the OpenDRIVE; performing safety and comfort optimization on a matched resultby using a GWO algorithm, and selecting an optimal path; after the optimal path is selected from the OpenDRIVE file, the color of a root and the like on the corresponding optimal path can be changed,and performing visualization by using an LGSVL simulator and the like.

Description

technical field [0001] The invention relates to the technical field of map path planning, in particular to a map path planning method based on the combination of improved Astar and gray wolf algorithms. Background technique [0002] Self-driving cars mainly provide map, positioning, perception, navigation and control functions. The central element of a map scene representation is the alignment of a lane, and the main goal of map scene modeling is to efficiently represent road geometry while maintaining a certain degree of precision. [0003] Currently, there are various methods to obtain accurate road geometry data. For example, in traditional GIS, high-resolution aerial camera images are obtained from airplanes, and road geometry is extracted by image processing devices. Many studies use vehicle-based detection methods to obtain more accurate road geometry. In this method, a rover equipped with various sensors explores the road and collects sensor data to obtain road geo...

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Application Information

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IPC IPC(8): G01C21/34G01C21/30G06N3/00G06Q10/04
CPCG01C21/3446G01C21/30G06Q10/047G06N3/006Y02T10/40
Inventor 林太东张辉刘淼
Owner 上海智驾汽车科技有限公司
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