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A method and system for evaluating the quality of path planning for unmanned vehicles

A technology for path planning and quality evaluation, applied in control/regulation systems, vehicle position/route/height control, motor vehicles, etc., can solve problems such as no quality evaluation method for path planning in off-road scenarios, difficult to quantitatively evaluate performance, etc.

Active Publication Date: 2022-03-25
BEIJING INSTITUTE OF TECHNOLOGYGY +2
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Problems solved by technology

[0003] At present, there are a large number of planning methods that can complete the corresponding planning tasks, but there is no evaluation method specifically for evaluating the quality of path planning in off-road scenarios, and it is difficult to quantitatively evaluate the performance of different global or local path planning algorithms

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  • A method and system for evaluating the quality of path planning for unmanned vehicles
  • A method and system for evaluating the quality of path planning for unmanned vehicles
  • A method and system for evaluating the quality of path planning for unmanned vehicles

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Embodiment Construction

[0073] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0074] The purpose of the present invention is to provide a method and system for evaluating the quality of unmanned vehicle path planning, which can quantitatively evaluate the performance of different global or local path planning algorithms.

[0075] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying draw...

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Abstract

The invention relates to a method and system for evaluating the quality of path planning of an unmanned vehicle. The path planning quality evaluation method for unmanned vehicles is based on the acquired data files and calibration files, and after generating the truth file under the guidance of the task file, the path planning algorithm to be evaluated is used to take the data file and calibration file as input, and the task file as the input. The path planning result is obtained by traction, and then the path planning result is compared with the data in the true value file according to the preset scoring criteria to obtain an evaluation report, which can then be completed in terms of algorithm efficiency, generated path quality, and task completion. The quantitative evaluation of global and local planning algorithms provides a technical guarantee for the quality evaluation of unmanned vehicle path planning.

Description

technical field [0001] The invention relates to the technical field of vehicle route planning, in particular to a method and system for evaluating the quality of route planning for unmanned vehicles. Background technique [0002] Path planning is an important part of unmanned driving system, and this technology can be further subdivided into global path planning and local path planning. Taking the road network map data as input, the global path planning matches the road network according to the positioning information of the unmanned vehicle itself, and on this basis plans a shortest global path from the starting point to the ending point; takes the sensory sensor data as input , the local path planning is guided by the global path planning to obtain a collision-free trajectory from the starting pose to the ending pose in the local environment map, and the generated trajectory needs to satisfy the kinematic constraints of the vehicle. [0003] At present, there are a large ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0257G05D1/0274
Inventor 王博洋闫泽新李世豪龚建伟吴绍斌齐建永臧政吕超谭颖琦
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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