A high-speed unmanned vehicle trajectory planning system and method based on a multi-window model
A trajectory planning and multi-window technology, applied in control/regulation systems, motor vehicles, two-dimensional position/channel control, etc., can solve the problems of lack of dynamic reasoning ability, difficult dynamic vehicle effective handling, and reduced flexibility, etc., to achieve Flexible planning, guaranteed consistent optimality, and improved processing capabilities
Active Publication Date: 2022-06-07
XI AN JIAOTONG UNIV
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Problems solved by technology
However, it is difficult to effectively deal with dynamic vehicles when path planning is performed first and then speed planning.
In order to improve the handling ability of dynamic obstacles, artificial potential field is introduced. However, due to the lack of dynamic reasoning ability of the method of artificial potential field, the risk assessment is only carried out in the spatial dimension, so the vehicle always tries to avoid obstacles by detour.
In addition, when considering the constraints of road rules, adding the potential field of lane lines to the model makes the planner largely inclined to choose lane keeping, which makes the planning more conservative and less flexible
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[0058] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0059] see figure 1 , is a schematic diagram of the overall framework of the present invention, including three modules of search space establishment, candidate trajectory generation and optimal trajectory selection; the search space establishment module, candidate trajectory generation module and optimal trajectory selection module are connected in sequence;
[0060] (1) Search space establishment module
[0061] This module includes multi-window model construction and road traffic rule screening; multi-window model construction characterizes the drivable area around the unmanned vehicle in the form of dynamic windows and obtains the characteristics of each window; road traffic rule screening eliminates non-compliance according to lane line constraints window of road traffic rules;
[0062] Since the occupancy rate of motor vehicles in the lateral dire...
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The invention discloses a high-speed unmanned vehicle trajectory planning system and method based on multi-window sampling. This method uses a multi-window model to represent the search space of motion planning for unmanned vehicles, and uses the strategy of speed planning first and then path planning in combination with human driving experience to construct a trajectory generation model, so that the generated candidate trajectory has a strong ability to detect dynamic obstacles. Handling capability and in line with human driving habits. Finally, the trajectory with the least cost is selected by the cost function as the optimal trajectory for planning. This unmanned vehicle trajectory planning method is suitable for structured scenarios such as high speeds dominated by dynamic obstacles, and plays an important role in improving the traffic capacity of unmanned vehicles in the actual environment. It can be widely used in unmanned vehicle motion planning, advanced Assisted driving technology and other fields.
Description
technical field [0001] The invention belongs to the field of motion decision-making and planning, and relates to a high-speed unmanned vehicle trajectory planning system and method based on a multi-window model. Background technique [0002] Trajectory planning is a very critical and core technology in the autonomous driving system, which plays a vital role in the normal driving and function realization of the vehicle. High-speed scenarios are expected to become the first application scenarios to achieve fully autonomous driving due to their high degree of structure and strong behavioral constraints. Therefore, how to flexibly respond to dynamic traffic flow in high-speed scenarios and generate a safe, collision-free, efficient and executable Driving trajectories have become a hot research field, and trajectory planning in high-speed scenarios is of great significance for the application of automatic driving technology and the improvement of advanced assisted driving technol...
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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223Y02T10/40
Inventor 薛建儒张琳马超李庚欣
Owner XI AN JIAOTONG UNIV