Automatic driving vehicle path planning method and system and storage medium

By constructing a non-time reference vehicle model with pass corridor constraints and unequal intervals, the problems of initial path collision and nonlinear kinematic constraints in autonomous driving vehicle path planning are solved, and a collision-free and smooth path planning is achieved.

CN119756406APending Publication Date: 2025-04-04东风悦享科技有限公司
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Patent Information

Application Number
CN202510020423.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-01-07
Publication Date
2025-04-04

AI Technical Summary

Technical Problem

Existing autonomous vehicle path planning methods are difficult to generate collision-free and smooth paths in the presence of collisions in the initial path, and optimization-based methods are difficult to deal with nonlinear kinematic constraints.

Method used

By taking the guide line as the initial path, building the passage corridor constraints considering obstacles and road boundaries, and generating vehicle kinematic constraints with unequal intervals, the cost function is constructed for path planning.

Benefits of technology

The collision-free passage corridor generation is achieved in the case of collision in the initial path, and a collision-free and smooth planned path is output, and the time terms in the kinematic model are eliminated to adapt to different driving environments.

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Abstract

The invention relates to an automatic driving vehicle path planning method and system and a storage medium, and the method comprises the steps: U1, enabling a vehicle to run on a road, taking a guide line as an initial path, considering an obstacle and a road boundary, constructing a passage corridor constraint, and obtaining the data information of a passage corridor of the vehicle; u2, collecting the data information of the motion state of the vehicle, constructing a non-time reference vehicle model at unequal intervals, generating a vehicle kinematics constraint, and obtaining the data information of the vehicle kinematics constraint; and U3, based on the data information of the passage corridor of the vehicle and the data information of the kinematics constraint of the vehicle, constructing a cost function J of vehicle driving path planning, and planning the driving path of the vehicle to obtain the data information of the planned driving path of the vehicle. According to the invention, a collision-free passage corridor generation method is provided, the problem of path planning under the condition that collision exists in the initial path can be solved, and a collision-free and smooth planning path can be output.
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