Path planning method and device for unmanned driving equipment

Abstract

This specification discloses a path planning method and device for unmanned driving equipment, which can be applied to unmanned driving equipment in the field of unmanned driving, for example, in unmanned vehicles, according to the direction of the planned path, determine and refer to the path on the planned path The calibration planning position in the opposite direction of the path speed, and the calibration reference position is determined according to the point closest to the calibration planning position in the reference path, and then the calibration planning position is used as the starting point, according to the path after the calibration reference position in the reference path , to re-plan the planning path after the calibration planning position. When the unmanned driving equipment travels along the planned route determined according to the method, the unmanned driving equipment will not stop suddenly, reverse, etc., which improves the efficiency and safety of the unmanned driving equipment's path planning.

Description

technical field [0001] This specification relates to the field of unmanned driving technology, and in particular to a path planning method and device for unmanned equipment. Background technique [0002] At present, with the development of unmanned driving technology, the use of unmanned equipment is becoming more and more extensive. In order to ensure the driving safety of the unmanned equipment, it is usually necessary to plan the driving route of the unmanned equipment. [0003] In the prior art, a commonly used path planning method for unmanned equipment is implemented based on a reference path of the unmanned equipment. Specifically, the unmanned device can obtain the reference path fitted by the reference position corresponding to each moment, and "perceive" the surrounding environment of the unmanned device, determine the position of the obstacle around the unmanned device, and then According to the reference path and the determined position of the obstacle, the pla...

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Problems solved by technology

[0004] However, in the existing technology, when the curvature of the reference position in the reference path is relatively large, and there are obstacles around the reference position, in the determined planned path, the planned position corresponding to the reference position may exceed the reference position at the next moment. position (that is, the planned path takes a shortcut), resulting in the planned position at the next moment determined based on the reference position at the next moment is behind the unmanned device, then the unmanned device needs to drive in the reverse direction to reach the next The planned position at all times makes unmanned equipment a great potential safety hazard

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