Vehicle local path planning method, automatic driving system and automatic driving vehicle

Abstract

The invention discloses a vehicle local path planning method, an automatic driving system and an automatic driving vehicle, and the vehicle local path planning method comprises the steps: obtaining road information and obstacle information; generating an alternative path set under a Frenet coordinate system according to the road information and the obstacle information; obtaining the running loss amount of each path in the alternative path set according to a preset loss function; based on an artificial potential field method, the repulsive force loss amount is calculated according to the obstacle information; determining a target path in the alternative path set according to the operation loss amount and the repulsive force loss amount; and controlling the driving of the vehicle according to the target path. By adopting the method, the safety and smoothness of local path planning in the automatic driving process can be improved.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to a vehicle local path planning method, an automatic driving system and an automatic driving vehicle. Background technique [0002] With the continuous advancement of unmanned driving technology, the level of autonomy of unmanned driving is also increasing. The autonomy levels of unmanned driving are: L2 level represents the driving system that can support multiple operations of the steering wheel and acceleration and deceleration at the same time; L3 level represents the ability to observe the road environment and perform driving operations. The driver only needs to request all the systems. A driving system that responds; L4 level represents a driving system that can observe the road environment and perform driving operations, and the driver only needs to respond in certain complex situations; L5 level represents a completely automatic driving system without any interven...

AI Technical Summary

Problems solved by technology

However, when the vehicle is planning the vehicle’s local path due to avoiding obstacles or other braking reasons, it is difficult to express the relative position between the vehicle and the road by using the above method in the path planning process, resulting in an inconsistent relative relationship between the two. Clear, and in the local path planning of the vehicle, it only avoids obstacles without realizing the smoothness of driving after switching roads

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