机场场面车辆编队跟随任务的预测更新规划方法
By combining planning and control in a platooning following strategy, and utilizing RRT* and B-spline smoothing algorithms and vehicle kinematics models for prediction and update planning, the problems of obstacle avoidance and formation transformation in unmanned vehicle platooning are solved, enabling efficient and safe following of unmanned vehicle platoons in complex environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIHANG UNIV
- Filing Date
- 2024-08-07
- Publication Date
- 2026-07-17
AI Technical Summary
Existing autonomous vehicle platooning methods have failed to effectively solve the obstacle avoidance problem, especially when different obstacle avoidance issues arise from platoon formations and when there is insufficient known information about the platoon, resulting in a lack of planning and control methods.
This paper proposes a formation following strategy that combines planning and control. It acquires information through onboard sensors and radar, and uses RRT* and B-spline smoothing programming algorithms. It combines the vehicle kinematics model for predictive update planning. Considering the lack of known formation information, it provides cooperative obstacle avoidance and formation change strategies, and uses a linear model predictive controller for path tracking.
It enables efficient and safe following of unmanned vehicle platoons in complex environments, autonomously avoids obstacles, and addresses the problem of insufficient known information in the platoon, thereby enhancing the safety and applicability of the platoon in changing scenarios.
Smart Images
Figure CN118915768B_ABST