Intelligent vehicle local path planning method in structured environment

A technology for local path planning and intelligent vehicles, which can be used in road network navigators, measuring devices, instruments, etc., and can solve problems such as poor adaptability, low planning efficiency, and collisions.
CN112362074APending Publication Date: 2021-02-12CHONGQING UNIV OF POSTS & TELECOMM
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Patent Information

Authority / Receiving Office
CN ยท China
Current Assignee / Owner
CHONGQING UNIV OF POSTS & TELECOMM
Publication Date
2021-02-12

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Abstract

The invention provides an intelligent vehicle local path planning method in a structured environment. The method comprises the following steps of positioning and map loading, obstacle information processing, coordinate system conversion and analysis, decision and replanning method, speed planning and local planning updating. Firstly, a corresponding local reference path is loaded by using a high-precision map and self-vehicle positioning information, then obstacle information is detected, coordinate system conversion is performed on the local reference path and the obstacle information, whether replanning is required is judged, and a local optimal path is obtained through a decision and replanning method. And finally, safe and stable driving is realized through speed planning and updatingof a local planning result. According to the invention, path planning, lane changing decision and speed planning are integrated, and the time performance of the intelligent vehicle local path planningmethod in the structured environment can be improved while the unmanned driving safety is guaranteed.
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Description

technical field

[0001] The invention belongs to the field of automation and computer technology, in particular to the field of path planning technology for intelligent vehicles, and specifically relates to a local path planning method in a structured environment. Background technique

[0002] Because of its potential to improve traffic safety, reduce energy consumption, and improve travel convenience, smart vehicles are considered to be the main direction of future automotive development. Generally speaking, the automatic driving system can be divided into: environmental perception module, decision-making planning module and control execution module, among which the decision-making planning module is a very important part of automatic driving technology, which plays a link between environmental perception and motion control. Urban roads with clear lane lines and structured environments such as expressways are the main road scenes that vehicles drive. Therefore, local path pl...

Claims

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