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Partial path planning method and device

A local path planning and global technology, applied in the direction of measuring devices, road network navigators, navigation, etc., can solve the problems of inaccuracy and poor real-time performance

Active Publication Date: 2022-06-03
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] This application provides a local path planning method and device, which solves the problems that the previous local path planning algorithm is not accurate enough, has poor real-time performance, and insufficient response to sudden collision risks, and improves driving efficiency and safety performance

Method used

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  • Partial path planning method and device

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Experimental program
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Embodiment Construction

[0092] Wherein, the surrounding vehicles refer to vehicles within a preset range from the first vehicle, and the surrounding vehicle set refers to

[0094] according to each surrounding vehicle in the set of surrounding vehicles before the current time preset second time period

[0096] In an exemplary embodiment, the construction based on the first transverse velocity sequence and the first longitudinal velocity sequence

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[0127] The local path planning method of the embodiment of the present application predicts that each surrounding vehicle in the surrounding vehicle set is

[0129] The first part: build and design an LSTM network based on the highD dataset to realize the detection of the lateral and longitudinal speed of the surrounding vehicles.

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[0132] The input gate, in conjunction with a tanh function, controls the passage of new information to generate a new candid...

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Abstract

The present application discloses a local path planning method and device, the method comprising: predicting the first lateral velocity sequence and the first longitudinal velocity sequence of each surrounding vehicle in the set of surrounding vehicles within a preset first time period after the current moment ; Wherein, the surrounding vehicle refers to the vehicle within the preset range from the first vehicle, and the surrounding vehicle collection refers to the collection of all surrounding vehicles; establishes a collision risk assessment according to the first lateral velocity sequence and the first longitudinal velocity sequence Coefficient model: Calculate the longitudinal force and steering angle at the current moment when the first vehicle tracks the global path according to the collision risk assessment coefficient model, the preset dynamic model of the first vehicle, and the preset global trajectory tracking item, so as to realize Optimal local path planning. The method and device disclosed in the application improve driving efficiency and safety performance.

Description

Local path planning method and device technical field [0001] The present application relates to the field of vehicle intelligent driving, especially to a local path planning method and device. Background technique [0002] With the development and progress of social economy and automobile industry, people pay more and more attention to the driving safety of automobiles. unmanned Driving a car as a powerful means to reduce traffic accidents has attracted the research of many scholars. Self-driving cars include a sense of the environment knowledge, global path planning, local path planning and trajectory tracking, among which the local path planning needs to output appropriate longitudinal Thrust force and steering angle, etc., ensure that the driverless car can reach its destination safely. [0003] At present, some scholars have carried out research on local path planning. Guo Hongyan (application number CN202010647239.3) Model the road environment with regional vir...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446G01C21/3492Y02T10/40
Inventor 王红于文浩李骏
Owner TSINGHUA UNIV