An unmanned parking path planning method for special road scenes
An unmanned driving and path planning technology, applied in the field of unmanned parking path planning, can solve problems such as low level of structure, and achieve the effect of improving the solution speed and shortening the length.
Active Publication Date: 2022-04-22
北京踏歌智行科技有限公司
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Problems solved by technology
[0005] In view of this, the present invention provides an unmanned parking path planning method for special road scenes, which is used to solve the problem of internal path planning in road scenes with a low degree of structure, and realize rapid generation of vehicles that meet the requirements in a large area. Vehicle parking path with kinematic constraints
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Embodiment 1
[0038] Step 1: Obtain P from the starting point of the vehicle 0 to parking end P N stop point P 1 ,P 2 ,...,P N-1 ; Among them, N is a positive integer.
[0039] An on-board computing unit for running path planning algorithms can be installed on each vehicle, and the parking destination P issued by the cloud intelligent platform can be received through the global task receiving system in the on-board computing unit. N and a series of stops P 1 ,P 2 ,...,P N-1 , the on-board computing unit will park the end point P N and all stops P 1 ,P 2 ,...,P N-1 Record and save. If there is no stopping point, only the parking end point will be recorded. Such as figure 2 As shown, from the vehicle starting point P 0 to parking end P 5 with four stops P 1 ,P 2 ,P 3 and P 4 , dotted line A 1 with dashed line A 2 represent the left and right boundaries of the road, respectively.
[0040] Step 2: Taking each stopping point as the demarcation point, divide the vehicle sta...
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The invention discloses an unmanned parking path planning method for a special road scene, which divides the road space from the vehicle start point to the parking end point into multiple space slices by taking the stop point as the dividing point, which can improve the solution of the algorithm Speed; Based on random uniform sampling and augmented search algorithm, the vehicle's drivable path and path guidance point in each space slice are obtained, and the heuristic search algorithm is used to optimize the path between every two adjacent path guidance points. It can shorten the length of the driving path and improve the solution speed of the algorithm; connect the drivable paths of all space slices to obtain the vehicle motion path, and establish the objective optimization function and constraint conditions to optimize the path in the drivable area under the vehicle motion constraints. Complete unmanned parking path planning, can dynamically adjust the vehicle safety distance for vehicles with different mission functions, improve the passability of vehicles in complex and changeable environments, and realize real-time parking of unmanned vehicles.
Description
technical field [0001] The invention relates to the technical field of unmanned driving, in particular to an unmanned parking path planning method for special road scenes. Background technique [0002] Special road scenarios generally refer to roads with a low degree of structure. In such road scenarios, there are no lane lines and clear road boundaries, and the roads are curved and complex, such as fields, mining areas, ports, etc. Unmanned parking path planning in special road scenarios mainly refers to the generation of safe drivable paths for unmanned vehicles in special road scenarios based on external environmental information, vehicle status and parking task requirements. Unmanned vehicles need to generate a drivable safe parking path according to the requirements of the parking task under the constraints of vehicle kinematics. [0003] For the urbanized road environment, due to its continuous road and flat road surface, it is relatively easy to realize the path plan...
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IPC IPC(8): B60W30/06
CPCB60W30/06
Inventor 余贵珍李涵周彬陈志发
Owner 北京踏歌智行科技有限公司