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Vehicle path planning method in complex non-convex environment

A vehicle path, non-convex technology, used in vehicle position/route/height control, motor vehicles, non-electric variable control and other directions, can solve the problems of inappropriate tracking control for planned paths, and many invalid sampling points, so as to reduce invalid The effect of regional probability, improving the success rate, and avoiding the tortuous planning path

Active Publication Date: 2022-03-01
HEFEI UNIV OF TECH
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Problems solved by technology

[0003] In order to solve the deficiencies in the prior art above, the present invention proposes a vehicle path planning method in a complex non-convex environment, in order to solve the problem that there are too many invalid sampling points during vehicle path planning in a complex non-convex environment, and the planned path is not suitable for Vehicle tracking control and other issues, so as to improve the speed and success rate of vehicle path planning

Method used

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  • Vehicle path planning method in complex non-convex environment
  • Vehicle path planning method in complex non-convex environment

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Embodiment Construction

[0034] In this embodiment, a vehicle path planning method in a complex non-convex environment is used for vehicle path planning and tracking control in accordance with the Ackermann steering principle in a non-convex environment. This method obtains the environmental map through lidar, and converts the environmental map into a grid map; identifies non-convex obstacles in the map through image processing methods, and fills them into convex obstacles to obtain a new grid matrix. Afterwards, the improved fast search random tree method is used to plan the vehicle path, and the specific improvements are as follows: 1. Adopt the non-uniform sampling method to reduce the sampling probability of the filled area and improve the speed of vehicle path planning in a non-convex environment; 2. The kinematic constraints of the vehicle are considered in the process of random tree generation to make the generated path smoother. Finally, the planned initial path is subjected to cubic B-spline ...

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Abstract

The invention discloses a vehicle path planning method in a complex non-convex environment, which is used for carrying out path planning on a vehicle conforming to an Ackerman steering principle in the non-convex environment, and comprises the following steps of: firstly, mapping the environment through a laser radar, and converting the environment into a grid map according to a proportion; the method comprises the steps that firstly, a grid map is obtained, then non-convex obstacles in the grid map are recognized through an image processing method, a new grid map is obtained after the recognized non-convex obstacles are filled into convex obstacles, finally, an improved fast search random tree is adopted to plan a vehicle path, and the path obtained through planning is used for vehicle tracking control after being subjected to smoothing processing. The speed and success rate of vehicle path planning can be improved.

Description

technical field [0001] The invention relates to the technical field of path planning for mobile devices, in particular to a global path planning method for Ackerman vehicles. Background technique [0002] Path planning is to find a safe and feasible path between the starting point and the target point. This technology is widely used in the fields of robotics, aerospace, and intelligent manufacturing. In recent years, the rapid development of vehicle-assisted driving and higher-level automatic driving solutions has put forward requirements for path planning technology such as high completeness, fast convergence speed, and good path smoothness. Commonly used bionic algorithms such as ant colony algorithm, genetic algorithm, and neural network algorithm have poor real-time performance; graph search methods such as Dijkstra and A* need to establish an adjacency matrix, and as the number of nodes increases, the solution time complexity increases exponentially; based on sampling ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0246G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0276Y02T10/40
Inventor 钱立军张成龙司志远
Owner HEFEI UNIV OF TECH
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