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Unmanned vehicle path planning method and device, electronic equipment, unmanned vehicle and medium

A technology for path planning and unmanned vehicles, applied in vehicle position/route/height control, non-electric variable control, two-dimensional position/channel control, etc., can solve the problem of low success rate of path planning

Pending Publication Date: 2021-12-10
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides an unmanned vehicle path planning method, device, electronic equipment, unmanned vehicle and medium, which solves the problem that the path planning success rate of the existing unmanned vehicle technology is low in complex scenarios

Method used

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  • Unmanned vehicle path planning method and device, electronic equipment, unmanned vehicle and medium
  • Unmanned vehicle path planning method and device, electronic equipment, unmanned vehicle and medium
  • Unmanned vehicle path planning method and device, electronic equipment, unmanned vehicle and medium

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Embodiment 1

[0032] figure 1 It is a flow chart of the path planning method for unmanned vehicles provided in Embodiment 1 of the present invention. The technical solution of this embodiment is applicable to the situation where the unmanned vehicle quickly returns to the centerline of the road through an alternative route when the target route planning fails. The method can be executed by the unmanned vehicle path planning device provided in the embodiment of the present invention, the device can be implemented in the form of software and / or hardware, and configured and applied in the controller of the unmanned vehicle. The method specifically includes the following steps:

[0033] S101. When it is detected that the current target path planning in the first coordinate system fails, determine the second position coordinates of the unmanned vehicle in the second coordinate system according to the current first position coordinates of the unmanned vehicle in the first coordinate system , th...

Embodiment 2

[0067] Figure 4 It is a structural block diagram of the unmanned vehicle path planning device provided by the second embodiment of the present invention. The device is used to execute the path planning method for the unmanned vehicle provided in any of the above embodiments, and the device can be implemented in software or hardware. The device includes

[0068] The coordinate conversion module 41 is used to determine the position of the unmanned vehicle in the second coordinate system according to the current first position coordinates of the unmanned vehicle in the first coordinate system when detecting that the current target path in the first coordinate system fails. The second position coordinates, the second coordinate system includes coordinate axes respectively along the centerline of the road and perpendicular to the centerline of the road;

[0069] The alternative path module 42 is used to generate an alternative path connecting the second position coordinates and ...

Embodiment 3

[0081] Figure 5 A schematic structural diagram of the electronic device provided in Embodiment 3 of the present invention, such as Figure 5 As shown, the device includes a processor 501, a memory 502, an input device 503, and an output device 504; the number of processors 501 in the device may be one or more, Figure 5 Take a processor 501 as an example; the processor 501, memory 502, input device 503, and output device 504 in the device can be connected by bus or other methods, Figure 5 Take connection via bus as an example.

[0082] Memory 502, as a computer-readable storage medium, can be used to store software programs, computer-executable programs and modules, such as program instructions / modules corresponding to the unmanned vehicle path planning method in the embodiment of the present invention (for example, the coordinate conversion module 41 , alternative path module 42 and travel module 43). The processor 501 executes various functional applications and data pr...

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Abstract

An embodiment of the invention discloses an unmanned vehicle path planning method, an unmanned vehicle path planning device, electronic equipment, an unmanned vehicle and a medium. The method comprises the following steps: when detecting that current target path planning in a first coordinate system fails, determining second position coordinates of the unmanned vehicle in a second coordinate system according to current first position coordinates of the unmanned vehicle in the first coordinate system, wherein the second coordinate system comprises coordinate axes along a road center line and perpendicular to the road center line; in the second coordinate system, generating an alternative path connecting the second position coordinates and the road center line, wherein the alternative path is a monotonic curve; and controlling the unmanned vehicle to run from the second position coordinates to the road center line along the alternative path, and to run to a destination along the current target path. The problem that the path planning success rate of an existing unmanned vehicle technology in a complex scene is low is solved.

Description

technical field [0001] Embodiments of the present invention relate to the field of unmanned vehicle control, and in particular to a method, device, electronic equipment, unmanned vehicle and medium for path planning of an unmanned vehicle. Background technique [0002] At present, mobile robot technology is developing rapidly, and with the increasing number of application scenarios and modes of robots, various mobile robots should emerge from afar, and unmanned vehicles are one of them. Under normal circumstances, the unmanned vehicle path planning module can output a safe and feasible path, but in the scene with a more complex environment, there will be times when the path planning fails. [0003] To sum up, in the process of realizing the present invention, the inventors found that there are at least the following technical problems in the prior art: when the existing unmanned vehicles encounter path planning failure, the strategy usually adopted is to reuse the path plann...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212
Inventor 郑杰
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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