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Vehicle and vehicle path planning method and device

A technology of vehicle path and path, which is applied to measurement devices, road network navigators, instruments, etc., and can solve problems such as secondary planning

Active Publication Date: 2022-04-19
ZHENGZHOU YUTONG BUS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a vehicle, a vehicle path planning method and device, to solve the secondary planning problem when the vehicle deviates from the reference path

Method used

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  • Vehicle and vehicle path planning method and device
  • Vehicle and vehicle path planning method and device
  • Vehicle and vehicle path planning method and device

Examples

Experimental program
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Embodiment 1

[0055] This embodiment is aimed at the situation that only one path is included in the planned global path.

[0056] Such as figure 1 As shown, the vehicle route planning method of this embodiment includes the following steps:

[0057] (1) Obtain a planned global path, which contains only one path, and use this path as a reference path for the vehicle to travel;

[0058] Among them, the planned global path can be obtained directly by using the navigation and positioning system, or by making a high-precision map of the environment and using algorithms such as A* (A-Star algorithm) and Dijkstra (Dickstra algorithm). Yes, the coordinates, heading angle and other information of each path point on the global path are stored in the form of discrete points.

[0059] (2) Acquire the current coordinates and current heading angle of the vehicle in real time while the vehicle is traveling along the reference path, and judge whether the vehicle deviates from the reference path according...

Embodiment 2

[0092] This embodiment is aimed at the situation that the planned global path includes multiple paths.

[0093] Such as Figure 4 As shown, the vehicle route planning method of this embodiment includes the following steps:

[0094] (1) Obtain the planned global path, which contains multiple paths, select one as the reference path for the vehicle, and the remaining paths as the backup path for the vehicle;

[0095] Among them, the planned global path can be obtained directly by using the navigation and positioning system, or by making a high-precision map of the environment and using algorithms such as A* (A-Star algorithm) and Dijkstra (Dickstra algorithm). Yes, the coordinates, heading angle and other information of each path point on the global path are stored in the form of discrete points.

[0096] (2) Acquire the current coordinates and the current heading angle of the vehicle in real time while the vehicle is running along the reference path, and judge whether the vehi...

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Abstract

The invention provides a vehicle and a vehicle path planning method and device, and belongs to the field of vehicle path planning. The method comprises the following steps: if a vehicle deviates from a reference path, taking the reference path as a target path when a global path only contains one path; when the global path comprises a plurality of paths, if the vehicle is outside all the paths, taking the path closest to the vehicle as a target path; if the vehicle is in the middle of the two paths, determining a target path according to the relationship between the distance from the two paths to the vehicle and a set minimum distance threshold and the direction of the vehicle head; determining the coordinate and the course angle of the target point according to the coordinate and the course angle of the point closest to the vehicle on the target path, the coordinate and the course angle of the starting point and the vehicle head orientation; and planning the shortest path from the starting point to the target point, and enabling the vehicle to run to the target path along the shortest path. According to the method, the coordinate and course angle of the target point can be accurately determined during quadratic planning when the vehicle deviates from the reference path.

Description

technical field [0001] The invention relates to a vehicle, a vehicle route planning method and a device, and belongs to the technical field of vehicle route planning. Background technique [0002] An autonomous vehicle is an intelligent vehicle system that integrates multiple modules such as environment perception, trajectory prediction, map positioning, behavior decision-making, path planning, and feedback control. It uses information perception, signal processing, artificial intelligence, and vehicle engineering , automatic control and other related technologies have broad development space and application prospects in scientific research, industry, military and other fields. [0003] Path planning is the key link to realize the autonomous navigation and control of autonomous driving vehicles. According to the driving tasks given by behavior decision-making and the real-time environmental information given by environmental perception, according to a certain search algorith...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/34
CPCG01C21/20G01C21/3446Y02T10/40
Inventor 曹鹭萌苏常军黄琨陈慧勇王小娟刘国荣
Owner ZHENGZHOU YUTONG BUS CO LTD
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