Unmanned obstacle avoidance path planning method and system

A path planning and unmanned driving technology, which is applied in control/adjustment system, road network navigator, vehicle position/route/height control, etc., can solve the problem of high calculation cost, weak multi-vehicle driving control ability, and difficult to meet the real scene Application needs and other issues, to achieve the effect of high computing efficiency, convenient multi-vehicle centralized control, and fast planning and computing efficiency

Active Publication Date: 2022-01-11
JIANGSU XCMG CONSTR MASCH RES INST LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the existing technical means for obstacle avoidance of unmanned vehicles are based on sensor detection, computer vision, and machine learning. The above methods are computationally expensive and have weak multi-vehicle driving control capabilities, which are difficult to meet the needs of real-world applications.

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  • Unmanned obstacle avoidance path planning method and system
  • Unmanned obstacle avoidance path planning method and system
  • Unmanned obstacle avoidance path planning method and system

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Embodiment 1

[0169] This embodiment specifically introduces a system that can realize a local path planning method for unmanned driving, which includes a driving vehicle equipped with radar detection equipment and communication equipment, a map server, and a path planning platform based on artificial intelligence (in the introduction of subsequent embodiments called the AI ​​engine). The interactions between the various parts of the system are as figure 1 shown. The radar detection equipment detects the obstacles in front of driving in real time, and reports the location (latitude and longitude) and size (length, width and height) of the obstacle to the map server after finding the obstacle, and at the same time initiates a path planning request to the AI ​​engine through the communication device; Read the lane data, obstacle position information, and obstacle size, and calculate a reasonable obstacle avoidance path based on the current vehicle location (latitude and longitude), and headi...

Embodiment 2

[0175] This embodiment introduces an unmanned driving obstacle avoidance path planning method that can be implemented based on the system in Embodiment 1, specifically involving the following content.

[0176] In order to make the subsequent description clearer, the basic symbols of the parameters related to the setting method are defined as follows:

[0177] VW——vehicle width; VF——the distance from the vehicle positioning point to the front of the vehicle; VB——the distance from the vehicle positioning point to the rear of the vehicle; WB——the vehicle wheelbase; δ——the maximum steering angle of the wheel; r_min— —The minimum turning radius of the vehicle, the relationship between WB and δ is σ max——The rate of curvature change allowed by the vehicle (the amount of curvature change per unit distance); sp——The starting position of the vehicle; s_yaw——The heading angle of the starting point of the vehicle; gp——The target position of the vehicle; - road width.

[0178] 1. Road...

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Abstract

The invention discloses an unmanned obstacle avoidance path planning method and system, and belongs to the technical field of artificial intelligence unmanned driving. The system comprises a driving vehicle map server and a path planning platform; in the driving process of a driving vehicle, obstacles in front of a lane are detected in real time through detection equipment, detected obstacle information is transmitted to the map server through communication layer equipment, obstacle avoidance notification information is sent to the communication layer equipment, and the communication layer equipment sends a path planning request to the path planning platform; the path planning platform responds to path planning request information to obtain obstacle map data and lane map data, judges whether the vehicle can avoid an obstacle or not, and calculates vehicle steering, an obstacle avoidance end point and an obstacle avoidance passing point; and a reference path is calculated and determined, local adjustment is performed on the reference path to obtain an adjusted obstacle avoidance path, and then safety detection is performed on the obstacle avoidance path to determine a final obstacle avoidance path. The system can improve the path planning efficiency, and guarantees the vehicle driving safety.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence unmanned driving, in particular to a method and system for unmanned driving obstacle avoidance path planning. Background technique [0002] With the development of information, communication, artificial intelligence (AI) and other technologies, the integration of industrialization and informatization has become more and more in-depth. The unmanned driving technology that artificial intelligence empowers traditional cars has gradually been applied to mining, port terminals, warehouse logistics, Public transportation and other scenarios. Encountering unexpected obstacles in the process of unmanned driving is an inevitable practical problem. Whether it can safely and efficiently avoid obstacles and reach the designated destination will affect whether unmanned driving can be implemented in real business. Path planning for obstacle avoidance is a local planning method, which should hav...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34G05D1/02
CPCG01C21/343G05D1/0274Y02T10/40
Inventor 赵斌刘超唐建林
Owner JIANGSU XCMG CONSTR MASCH RES INST LTD
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