一种港口用重卡车辆在狭窄环境下的路径规划方法及系统
By improving the TEB algorithm and using a path planning method with multi-dimensional constraints, the path planning problem of heavy trucks in the narrow environment of ports was solved, achieving safe and smooth path planning and efficient space utilization, and improving the planning accuracy and formation operation efficiency in narrow scenarios.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- JIANGSU DALUOTOU ZHIJIA TECH CO LTD
- Filing Date
- 2026-05-06
- Publication Date
- 2026-07-17
AI Technical Summary
Existing path planning for heavy-duty trucks in narrow port environments suffers from poor adaptability, easy failure of obstacle constraints, insufficient planning accuracy, and low space utilization. In particular, it is difficult to achieve safe and smooth path planning in narrow scenarios.
An improved time-elastic band (TEB) algorithm is adopted, which combines multi-dimensional driving constraints to obtain road boundary and obstacle information in real time. The vehicle pose is adjusted through graph optimization to generate a collision-free and smooth planning trajectory. The calculation of obstacle constraint residuals is improved to avoid constraint failure.
It enables safe and smooth path planning in narrow environments, improves planning accuracy and space utilization, avoids vehicle breakdowns and road congestion, and improves the efficiency of heavy truck platooning operations at ports.
Smart Images
Figure CN122149519B_ABST