Automatic driving local path planning method and system

A technology for local path planning and automatic driving, applied in the directions of road network navigators, measuring devices, instruments, etc., can solve the problems of few applications in the field of unmanned driving, inability to make planning behaviors, and inconsistent with unmanned driving strategies. Achieve the effect of avoiding infinite approaching obstacles

Active Publication Date: 2021-03-30
SAIC VOLKSWAGEN AUTOMOTIVE CO LTD
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Problems solved by technology

[0005] However, due to some defects in the DWA algorithm itself in the prior art, the algorithm itself is widely used in the field of robotics, but relatively less in the field of unmanned driving.
Defects of the DWA algorithm include: speed sampling will cause the robo...

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  • Automatic driving local path planning method and system
  • Automatic driving local path planning method and system
  • Automatic driving local path planning method and system

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Embodiment Construction

[0047] The method and system for autonomous driving local path planning according to the present invention will be further explained and described in conjunction with the drawings and specific embodiments below. However, the explanation and description do not constitute an improper limitation on the technical solution of the present invention.

[0048] In the present invention, the present invention discloses a local path planning system for automatic driving, which can be used to implement the local path planning method for automatic driving of the present invention.

[0049] In the automatic driving local path planning system of the present invention, it includes: a data collection module and a path planning module. The data collection module is used to collect map data and vehicle positioning data of the area where the vehicle will drive, and the path planning module is used for the automatic driving local path planning method described in the present invention.

[0050] f...

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Abstract

The invention discloses an automatic driving local path planning method, which comprises the following steps of: (1) receiving map data and vehicle positioning data of an area to be driven by a vehicle so as to generate a local map of a drivable area of the vehicle; (2) performing time sampling, speed sampling and angle sampling from the local map; (3) generating a plurality of predicted driving tracks based on time sampling, speed sampling and angle sampling; (4) traversing all the predicted driving tracks, carrying out collision detection on each predicted driving track, if a detection result shows that collision occurs, rejecting the predicted driving track, and if the detection result shows that collision does not occur, putting the predicted driving track into a predicted driving track database; and (5) selecting an optimal track from the predicted driving track database, and outputting the optimal track to the vehicle. Correspondingly, the invention further discloses an automaticdriving local path planning system.

Description

technical field [0001] The present invention relates to a control method and system, in particular to a path planning method and system. Background technique [0002] In recent years, with the rapid development of unmanned driving technology, it is more and more possible for unmanned vehicles to be used in daily life. The safety, reliability and comfort of unmanned vehicles are particularly important, which puts forward higher requirements for the optimization of unmanned vehicle movement routes. [0003] Path planning has always been a hot spot in the research of unmanned vehicles. At present, many researchers have conducted a lot of research on path planning methods. [0004] Existing path planning methods mainly include: Voronoi diagram method based on sampling, fast search random tree and other methods; methods such as node-based Dijkstra and Dynamic Window Approach (DWA). Among them, the DWA algorithm is easy to understand and implement, and is one of the most widely ...

Claims

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Application Information

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IPC IPC(8): G01C21/34G01C21/28
CPCG01C21/3446G01C21/343G01C21/28Y02T10/40
Inventor 张珺涵姚明江
Owner SAIC VOLKSWAGEN AUTOMOTIVE CO LTD
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