Path planning method and system considering road surface obstacle characteristics

Abstract

The invention relates to a path planning method and system considering road obstacle characteristics, and belongs to the technical field of path planning. According to the path planning method considering the road surface obstacle characteristics provided by the invention, whether the obstacle can cause vehicle instability or not can be classified according to the obtained road information, the vehicle driving information and the environment obstacle information in combination with the offline vehicle obstacle instability boundary; the method comprises the following steps: respectively constructing a grid map describing an obstacle-crossing grid map and a grid map describing an obstacle-non-crossing grid map, and carrying out path collision screening on a series of polynomial track groups generated by fitting based on the two grid maps so as to calculate the roll cost caused by the passage obstacle-crossing grid map; according to the method, a feasible track which is smooth, free of collision instability and capable of meeting the side direction and side inclination stability is finally generated, so that the problem of unnecessary detour in the prior art is solved, the path distance can be reduced, the economical efficiency and the real-time performance are improved, meanwhile, unnecessary steering operation is reduced, and the risk of vehicle instability can be reduced.

Description

technical field [0001] The present invention relates to the technical field of path planning, and in particular, to a path planning method and system considering the characteristics of road obstacles. Background technique [0002] The core of the development of the intelligent transportation system is the unmanned vehicle, which perceives the information of the surrounding environment of the vehicle through a variety of sensors, and controls the steering and speed of the vehicle according to the obtained information, and finally realizes the function of safe and reliable autonomous driving. The key technologies of unmanned vehicles include environmental perception, navigation and positioning, path planning and decision control. Among them, path planning is the bridge of information perception and intelligent control of unmanned vehicles, and it is the basis for realizing autonomous driving. Its task is to search for an optimal path according to a certain path planning algor...

AI Technical Summary

Problems solved by technology

[0004] In the above five commonly used path planning methods, obstacles are mostly dealt with, that is, they are detoured during the path planning process, without considering the impact of the vehicle directly passing through small-sized road obstacles on the dynamic response of the vehicle. There will be unnecessary detours in the path, which not only increases the path distance, reduces the economy and real-time performance, but also increases unnecessary steering operations, increasing the risk of vehicle instability

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