64 results about "Collision checking" patented technology

The invention discloses a multi-robot path planning system and method based on sampling, and belongs to the technical field of robot path planning, and the system comprises a route map initialization module, a scanning volume calculation module, a collision inspection module, a path expansion module and a reconnection module. A space is explored and planned in a random sampling mode, the method is suitable for dynamically changing industrial scenes, in addition, compared with a traditional method, the method pays more attention to improving the planning efficiency instead of an absolute optimal path, the collision detection process is optimized by pre-calculating the sweeping volume, the calculation overhead in the search process is reduced, and the search efficiency is improved. The problem of mutual interference among multiple machines is solved through a deadlock strategy, unnecessary calculation is reduced through a simplified updating strategy, and the efficiency of multi-robot path planning is remarkably improved while the effect of a solution is kept.

The invention relates to the technical field of machining control, in particular to an intelligent planning system and method for a multi-axis linkage numerical control machining path, and the system comprises a data collection unit which is used for obtaining the form attribute parameter information of a machined workpiece and the axial motion attribute parameter information of a multi-axis machining unit; and the initial division unit is used for performing initial division on a workpiece machining range according to the morphological attribute parameter information and the axial motion attribute parameter information to obtain an initial segmentation result and an initial trajectory planning result of the machining range, and the initial trajectory planning result comprises coordinate information of each trajectory segment. The collision condition between the motion path of the cutting tool and the feature range of the workpiece can be checked in real time through the collision checking unit, and the path is automatically adjusted through the collision avoidance unit, so that possible machining errors and equipment damage are avoided, and the machining safety and stability are greatly improved through intelligent collision avoidance.

The invention relates to a collision early warning method based on a laser radar in a non-structural environment, belongs to the technical field of vehicle driving safety, and solves the technical problem of low accuracy and effectiveness of collision early warning in the non-structural environment. Comprising the following steps: in a vehicle body coordinate system, collecting point cloud data in a non-structural environment by using a laser radar, estimating a vehicle motion pose by using the point cloud data, and obtaining a real-time pose and speed of a vehicle; generating a vehicle motion prediction trajectory based on the motion pose and speed of the vehicle, and performing ground point cloud filtering and obstacle clustering detection on the point cloud data in the vehicle prediction driving area to obtain an obstacle clustering result; carrying out obstacle geometric collision check based on an obstacle clustering result, determining an obstacle vertex closest to the vehicle in a vehicle prediction trajectory range area, estimating the movement speed of the obstacle vertex, and calculating an RSS distance; if the RSS distance is smaller than the preset safety distance threshold value, collision early warning is triggered, and accurate early warning in the non-structural environment is achieved.

The invention provides a BIM (Building Information Modeling)-based engineering electromechanical installation method. The method comprises the following steps: establishing an engineering electromechanical BIM model; carrying out model collision check and optimization; construction simulation and scheme making are carried out; field installation and implementation; and installation acceptance and model filing. According to the method, the geometric and attribute integrated BIM model is constructed through data collection and digital drawing review, full-dimensional collision detection is carried out, key pipeline specification requirements are preferably guaranteed, model data reliability is guaranteed, construction disjunction caused by drawing errors is avoided, the problem of pipeline collision is solved in advance, and the construction efficiency is improved. Material waste and construction period delay of dismantling and reassembling in the construction stage are reduced, meanwhile, the risk of illegal acceptance of key pipelines is reduced, and the limited space utilization rate is increased.

The invention discloses a robot grabbing pose generation method and device, and the method comprises the steps: obtaining a natural language grabbing task instruction, and carrying out the analysis based on a large language model, and generating a structured task parameter containing target object identification information and grabbing constraint information; performing open vocabulary target detection on the image based on the identification information, and obtaining a target area mask in combination with pixel-level segmentation; generating a target point cloud based on the mask, the depth map and the camera internal reference, carrying out depth completion or denoising, outlier elimination and threshold confirmation filtering, inputting the processed target point cloud into a grabbing pose prediction network, outputting a plurality of candidate six-degree-of-freedom grabbing poses, carrying out constraint screening according to grabbing constraints, and carrying out collision detection; and selecting the candidate with the optimal confidence coefficient from the collision-free candidates as the optimal grabbing pose to be output. Task constraints penetrate through a target extraction process, a point cloud construction process and a pose screening process, and point cloud processing and collision verification are combined, so that an executable six-degree-of-freedom grabbing pose which meets the constraints is output.

The invention discloses a BIM (Building Information Modeling)-based suspended ceiling advanced accurate positioning and trepanning construction method, which comprises the following steps of: S1, establishing a construction model of each specialty in a suspended ceiling, performing collision inspection, and adjusting the construction model; s2, establishing a three-dimensional model including suspenders, keels and the like by utilizing BIM software; s3, comprehensive collision inspection is carried out, and the ceiling structure is prevented from conflicting with other professional equipment; s4, generating a construction drawing and organizing field implementation according to comprehensive suspended ceiling deepening typesetting; s5, a trepanning positioning plate is manufactured, and the trepanning positioning plate is used for accurately positioning the trepanning point position of the veneer plate on site; s6, paying off the trepanning point, confirming a central point and implementing accurate trepanning; and S7, after trepanning is completed, point location installation is conducted on facility equipment needing to be installed in advance. Advanced coordination of the keel in the suspended ceiling and various equipment point positions can be achieved, precise positioning of suspended ceiling trepanning is achieved, disassembly and rework are reduced, and the construction precision and efficiency are improved.

The invention relates to a BIM technology-based converter station valve hall steel roof truss structure design method and system, and the method comprises the following steps: determining valve hall equipment information and pipeline information through multi-specialty cooperation, and building a valve hall size and an equipment pipeline positioning reference; a steel roof truss space supporting structure and pipeline track separation scheme is generated based on equipment plane and facade arrangement; a multi-specialty refined three-dimensional model is constructed on a BIM platform, and spatial positioning of a steel roof truss framework and pipelines is achieved through parametric modeling; executing collision check and iteratively optimizing the three-dimensional model to ensure that no conflict exists between the pipeline and the structure; and uploading the verified three-dimensional model to a digital management platform.

The invention provides a motion parameter generation method and device. The method comprises the following steps: importing three-dimensional models of a to-be-detected shell, a tool turret and a gooseneck tool in a collision inspection application; based on first input of a user, determining a tool turret center point of the tool turret in the three-dimensional model of the tool turret, and determining a tool nose position in the three-dimensional model of the first gooseneck tool; based on the actual pose information of the first gooseneck tool, the pose of the three-dimensional model of the first gooseneck tool is adjusted; receiving first coordinate information input by a user; based on the first coordinate information, controlling the three-dimensional model of the first gooseneck tool to move relative to the three-dimensional model of the to-be-detected shell according to a motion path corresponding to the first coordinate information, so as to carry out interference detection, and generating a first interference detection result; and under the condition that the first interference detection result represents that the three-dimensional model of the first gooseneck tool does not interfere in the process of moving relative to the to-be-detected shell, motion parameters of the three-dimensional model of the first gooseneck tool are output.

The invention discloses a cable penetration assembly structure trepanning inspection method, device and program based on AM software, and the method comprises the steps: carrying out the collision inspection of a cable penetration assembly model and a hull structure, giving out an alarm prompt if there is interference, or obtaining the position coordinate and direction information of a cable penetration assembly, establishing a virtual cable penetration assembly based on the obtained coordinate and direction information, and then extending the section of the virtual penetration assembly; performing collision inspection on the extended virtual penetration assembly and the ship body structure, and if no interference exists between the extended virtual penetration assembly and the ship body structure, giving an alarm prompt; if interference exists, tapping is normal. And finally, based on the names of the structural grillages, the assembly names and the plate materials of the structural grillages are called, the assembly flow direction codes of the structural grillages are obtained through the assembly names, and installation stage matching and material matching are carried out. According to the invention, the cable penetration piece structure can be subjected to rapid trepanning inspection, and the working efficiency is greatly improved.

The invention discloses a tool matching method, device and equipment for numerical control machining parts and a storage medium, and the method comprises the steps: screening tools in to-be-matched tool library information according to the tool size, tool type and tool machining type obtained by explaining an initial numerical control machining program to obtain a first target tool list; according to the cutter list and the geometric information of the corresponding cutter holder and the to-be-machined part, the machining, collision inspection and overcut inspection processes of the target cutter on the to-be-machined part are simulated, and the effective length of the cutter and the extension length of the cutter are obtained; and according to the effective length of the cutter, the extension length of the cutter, the target cutter and the corresponding cutter holder, a corresponding cutter is selected from the offline cutter library to obtain a matched cutter. According to the method, the problem that the processing efficiency of a machine tool is affected due to the fact that an on-site operator for part processing needs to download and analyze part processing information made by programmers, the information acquisition process is long, tool preparation work is delayed, and the processing efficiency of the machine tool is further affected is solved.

The invention relates to the field of engineering construction, and discloses a water plant pool wall construction simulation method, device and equipment and a storage medium, the method comprises the following steps: carrying out collision check on a structure model, a building model, a process model, a deodorization pipeline model and a scaffold model in a BIM model to obtain collision points in the BIM model; obtaining collision information corresponding to the collision point, in the collision information, obtaining a pipeline colliding with the wall body in the BIM model, adjusting the position or path of the pipeline, obtaining a pipeline bypassing the wall body, replacing the pipeline colliding with the wall body with the pipeline bypassing the wall body, and selecting the BIM model using the pipeline bypassing the wall body as a modified BIM model; and in the modified BIM model, obtaining a planar graph, a profile graph or an elevation graph of the water plant pool wall, selecting the planar graph, the profile graph or the elevation graph of the water plant pool wall as a target graph of the water plant pool wall, and selecting the target graph added with the construction information as a construction graph of the water plant pool wall. The overall process is simplified, and the construction efficiency is improved.

The invention discloses an automatic driving decision control method and system and related equipment, and belongs to the technical field of automatic driving. The method comprises the following steps: generating an initial behavior decision tree by adopting a Markov algorithm according to a vehicle state; pruning and reconstructing the initial behavior decision tree according to human driving characteristics to obtain a pre-screened behavior decision tree; pruning and rejecting the unsafe behavior decision sequence through an RSS model, and iteratively generating a vehicle candidate trajectory in combination with a vehicle kinematic model and a behavior decision tree; performing trajectory generation on the vehicle candidate trajectory sequence to obtain a predicted trajectory; performing safety speed check and collision check on the predicted trajectory, and rejecting behavior sequences which do not meet requirements to obtain a pre-selected trajectory; and calculating the total cost of each pre-selected track, and taking the behavior sequence with the minimum total cost as an optimal vehicle decision result and outputting the optimal vehicle decision result. According to the invention, through multi-level screening and optimization of the decision sequence, the safety and rationality of the automatic driving decision are improved.

The invention provides an unmanned aerial vehicle path planning method and system based on a wind field and artificial potential field coupling method, and belongs to the technical field of unmanned aerial vehicle path planning. Constructing a two-dimensional grid chart for the target area, calculating the gradient of grid point air pressure based on air pressure data to obtain a simulated wind field, and initializing a sampling space based on environmental data and establishing an artificial potential field; random sampling is carried out in the sampling space, the growth direction of next expansion of a random tree is controlled based on the coupling force of the simulated wind field and the artificial potential field, and new nodes are generated in the direction of the random tree; performing collision inspection on the generated new nodes; and backtracking from the last sampling point around the target point to the starting point to determine a path, and pruning and smoothing to complete path planning. The sampling direction is guided through coupling of a wind field and an artificial potential field, so that the consumption of flight energy is reduced.

The invention discloses a three-dimensional design collision check report generation method and device, electronic equipment and a medium, relates to the technical field of three-dimensional modeling design and application, and aims to automatically generate a report file with a model screenshot, so that a designer can visually see a collision position and can visually see the severity of collision, and the design efficiency is improved. Collision details do not need to be verified by manually executing a large amount of repeated work, and the efficiency and accuracy of three-dimensional design are improved. The method comprises the steps of obtaining collision inspection parameters in response to a collision inspection request, and determining a plurality of to-be-inspected models; according to the collision inspection parameters, performing collision inspection on the plurality of to-be-inspected models, and determining at least one collision position point where collision occurs in the plurality of to-be-inspected models; and intercepting a model three-dimensional view related to each collision position point, and generating and outputting a collision check report based on the model three-dimensional view related to each collision position point.

The application discloses a collision checking preview method and system based on a BIM model, and the method comprises the following steps: obtaining an input instruction for selecting a collision point, and selecting a model collision point based on the input instruction; loading a collision detection plug-in in the BIM model to perform collision pre-detection on the model according to the collision point, obtaining a collision report, and storing the collision report in a set directory; loading a Revit plug-in in the BIM model, reading a component ID number in the Revit plug-in, setting a working mode of a collision checking system, reading the collision report in the set directory in any working mode, selecting a collided component, and cutting out the collided component by using a selection box, and previewing and displaying the collided component according to a set time. The program is run in the Revit software by using a shortcut key set in the program, the program automatically reads the collision report, selects the collided component, and cuts out the collided component by using the selection box, so that observation is facilitated. After adjustment, the next collision point is modified.

To provide an object interference check technique using a height map for a machine tool and other applications.SOLUTION: The CAD model of the workpiece or other obstacle is converted into a height map that defines the obstacle height above the plane of the reference coordinate system for each cell of the grid. The tool center point path is then transformed into the same reference coordinate system. The interference check is performed by comparing the height coordinates of each transformed tool path check point with the values of the height map of the corresponding grid cell. The detected interference is handled by defining a new path point with an increased height coordinate to replace the interference critical path point. The interference of the entire tool can be checked by creating a bottom-to-top height map of the tool and comparing each pixel of the tool height map with the corresponding grid cell of the obstacle height map.SELECTED DRAWING: Figure 2

The invention provides a steel bar collision checking and automatic deviation rectifying method based on a three-dimensional graphic platform, and relates to the technical field of constructional engineering, the method comprises the following steps: obtaining a target position of a reserved truss steel bar in a lower prefabricated slab of a prefabricated composite floor slab and an initial arrangement scheme of a bidirectional steel bar in an upper cast-in-place layer; setting the target position to avoid hard constraint, performing reinforcement collision detection on the two-way reinforcement in the initial arrangement scheme and the reserved truss reinforcement through a constraint model, and extracting position information of the two-way reinforcement related to the collision after the collision is detected; generating a path avoiding scheme according to the position information; iterating the avoidance path scheme through a constraint model to generate a target avoidance path meeting a constraint condition; and according to the target avoiding path, the initial arrangement scheme is adjusted, and a target arrangement scheme of the two-way steel bars in the upper cast-in-place layer of the prefabricated composite floor slab is generated. The technical effect of the invention is that misjudgment of collision detection is reduced.

This invention provides a method, system, and storage medium for automated and high-precision batch soft and hard collision verification of transmission line insulator string attachment points based on GIM models. It relates to the field of tension insulator string collision verification technology and includes: identifying all tension insulator string tower attachment points to be tested and their corresponding hardware components from the model; constructing a refined model library; completing the initial import and placement of the refined model; achieving precise alignment of the hardware components with the refined tower attachment point model in spatial position and orientation; driving the refined model from a static installation state to a dynamic spatial state under specific operating conditions; and performing hard collision checks on each inspection unit in the dynamic spatial state. This invention liberates designers from tedious and repetitive work, resulting in an order-of-magnitude improvement in verification efficiency.

The invention discloses a front support type grouting steel pipe positioning and arranging construction method in a building support construction system based on a BIM technology. A foundation building component model and a front support steel pipe model are assembled; after mold closing is completed, the conflict positions of the front supporting steel pipes and the foundation building components and the conflict position condition between the front supporting steel pipes can be found, and according to a collision check result, positioning arrangement of the conflict positions of the front supporting steel pipes is optimized and adjusted to form an optimized BIM three-dimensional model; and the front supporting steel pipes are horizontally moved or the tail parts of the front supporting steel pipes are rotationally adjusted at a small angle to avoid the positions of structural beams, frame columns, pile foundations, bearing platforms or other front supporting steel pipes, so that the interference phenomenon of the front supporting steel pipes is avoided. By means of the construction method, the problem of collision in arrangement of the front supporting steel pipes is solved, the cost of construction measures is reduced, the construction quality and the structural stability are improved, and convenience is provided for follow-up construction operation.

The application discloses a body-in-white interface matching inspection method and system, comprising collecting data required for inspection of the body-in-white and other systems, creating a standard database comprising a structure tree and physical three-dimensional data; making an interface matching table: performing a collision inspection, automatically obtaining matching information, and making the matching conditions between the body-in-white and other system parts into the interface matching table; making an interface matching inspection table: on the basis of the interface matching table, further verifying the interface matching conditions, recording the information of non-matching, and creating the interface matching inspection table. The application improves the development efficiency in the virtual design stage by automatically inspecting the body-in-white interface matching, avoids false detection, reduces the probability of subsequent real vehicle installation errors, thereby reducing the modification cost, and ensures that the automobile project can be put into production on time.

An object interference checking technique using collision maps. A CAD model of a workpiece is converted to an obstacle height map defining obstacle height above a reference plane for each cell of a grid. A CAD model of a tool is used to construct a tool height map. The obstacle height map and the tool height map are used to generate a collision map defining a collision-free tool height above each grid cell of the collision map. The collision map is generated by scanning the tool height map over the obstacle height map and, for each scan point, determining a height of the tool height map which results in no interferences between any pixel of the tool height map and a corresponding pixel of the obstacle height map. A collision check of a tool trajectory is then performed by comparing trajectory check points to grid cells of the collision map.

The invention discloses a WebGL-based two-dimensional and three-dimensional cooperative collision inspection method and system, and relates to the field of CAD design, and the method comprises the steps: responding to an input signal of a plane drawing transmitted by CAD software, and based on a three-dimensional parameterized entity with BIM semantics in the plane drawing, generating a three-dimensional model of n pipe comprehensive components; dividing an export range of the plane drawing, determining a spatial range of an export model based on the export range and a preset reference point coordinate, and generating n proxy model files based on the spatial range and the three-dimensional model of the n pipe comprehensive components; starting a lightweight browser, and adding n proxy model files in the lightweight browser to generate an assembly model; in the lightweight browser, carrying out collision check on the assembly model to obtain a collision result; and based on the collision result, generating annotation data of the export model, and synchronizing the annotation data in CAD software. According to the method, the design efficiency can be effectively improved, and the problem of'graph-model non-uniformity 'is solved.

This invention relates to an integrated design method for landscape sculpture steel structures based on a parametric platform, comprising: constructing a structural geometric model; further establishing a structural calculation model based on the structural geometric model; automatically optimizing the member cross-sections using a pre-defined standard library of member cross-sections to determine the optimal member cross-section; assigning the optimal member cross-section to the constructed structural geometric model, performing model collision checks, and completing the structural design process. Compared with existing technologies, this invention determines the internal and external boundary control conditions of the structure based on architectural and equipment disciplines. Through the automatic establishment of the structural model, automatic optimization of member cross-sections, and automatic collision checks of the 3D model, it can achieve automated and integrated design of irregularly shaped buildings such as landscape sculptures, effectively improving structural design efficiency and ensuring the accuracy and reliability of structural design. Simultaneously, this invention provides a standardized library of member cross-section dimensions to further ensure the construction efficiency and quality of irregularly shaped steel structures.

The present invention relates to the field of intelligent construction of civil engineering, and specifically to a method and system for path planning of a group of unmanned equipment based on the RRT* algorithm. The method comprises the following steps: obtaining information on the number, starting point, end point, travel length, task urgency, energy efficiency and obstacle area of ​​unmanned equipment; determining the priority ranking of the equipment in path planning based on the information; determining the shortest path of the highest priority equipment under multiple obstacle conditions based on the priority ranking; performing collision checks on the travel paths and rotation paths of multiple equipment based on the shortest path; and realizing multi-dimensional obstacle avoidance global path collaborative planning of the equipment group through the results of the collision check. The present invention reduces the equipment travel time and improves the overall construction efficiency by determining the equipment priority; and avoids the limitation of only considering travel obstacle avoidance by integrating the travel rotation obstacle avoidance strategy and the static-dynamic obstacle avoidance strategy, thereby improving the applicability and accuracy of path planning.

An object interference inspection technique using a collision map. The CAD model of the workpiece is converted into an obstacle height map that defines an obstacle height above a reference plane for each cell of the grid. The CAD model of the tool is used to construct a tool height map. The obstacle height map and the tool height map are used to generate a collision map that defines a collision-free tool height over each grid cell of the collision map. A collision map is generated by scanning the tool height map over the obstacle height map, and for each scan point, determining a height of the tool height map that results in no interference between any pixel of the tool height map and a corresponding pixel of the obstacle height map. A collision check of the tool trajectory is then performed by comparing the trajectory check points to the grid cells of the collision map.

The invention provides a machine tool collision early warning method and system based on data analysis, and relates to the technical field of data processing, and the method comprises the steps: obtaining the image data and geometric data of a machine tool, and the motion constraint data of each machine tool part in the machine tool; performing data processing on the image data, determining the accurate position of each machine tool part in the machine tool, and constructing a machine tool virtual model in combination with geometric data of the machine tool and motion constraint data of each machine tool part; establishing a hierarchical bounding box tree for each machine tool part in the machine tool virtual model; through a hierarchical bounding box tree algorithm, performing preliminary collision inspection on each machine tool part, and screening out target machine tool parts corresponding to intersecting bounding boxes in a hierarchical bounding box tree; performing fine collision inspection on the target machine tool part through a ray intersection algorithm; judging whether collision occurs or not based on the fine collision check result; if yes, a collision alarm is given out; otherwise, judging that no collision occurs.

The invention provides a soft collision checking method for BIM (Building Information Modeling) arrangement of multi-physics hydropower station equipment based on 3DE secondary development, and the method comprises the steps: writing a program by utilizing an EKL secondary development language of a 3DE platform to assist the soft collision checking design of the BIM arrangement of the multi-physics hydropower station equipment; various technologies such as three-dimensional design and development, multi-physics field simulation and collision detection are combined, and the problem of multi-physics field, multi-scale and multi-dimensional coupling arrangement is solved based on a BIM visualization means. The method relates to the two stages of hydropower station equipment multi-physics field coupling effect soft collision checking algorithm design, hydropower station equipment soft collision checking and arrangement optimization software implementation. The accuracy and efficiency of soft collision checking of the hydropower station equipment can be remarkably improved, the arrangement optimization design of the hydropower station equipment is more comprehensive, scientific, accurate, efficient and intelligent, and powerful support is provided for optimization of arrangement of electromechanical equipment of the hydropower station.

The invention relates to a space complex part measurement method based on an auxiliary rotary table, electronic equipment and a storage medium. The method comprises the following steps: 1) establishing a space position model and a motion model of the auxiliary rotary table and a measurement probe system; 2) determining a detection direction and turntable rotation angle configuration in which each measurement element can be safely measured under the participation of auxiliary turntable rotation shaft movement and probe system movement; 3) optimizing and grouping the probe detection direction of the measurement elements in the space and the rotation angle of the rotary table; 4) optimizing the sequential detection sequence of the measurement elements; and 5) outputting a global collision-free measurement scheme rule, and completing a task of automatically measuring the space complex part. The auxiliary rotary table is introduced into complex part measurement, the overall efficiency, safety and reliability of space complex part measurement are effectively improved, and potential errors caused by manual operation measurement are effectively avoided through automatic design of process methods such as measurement space modeling, collision inspection and path planning. The method has guiding significance for high-efficiency and high-precision measurement intelligentization of complex parts.

The invention discloses a method for automatically searching a crane station, which belongs to the technical field of cranes, is used for crane station selection, and comprises the following steps: carrying out preliminary selection on the crane station according to vectorized field photogrammetric data to obtain a selectable set of the crane station; detecting the feasibility of the optional set of the filtered crane stations on the basis of the field site cloud data to obtain feasible crane stations, and performing collision check detection during secondary hoisting on each feasible crane station on the basis of the field site cloud data and crane parameters in the feasible crane stations to obtain a unique feasible crane station. According to the method, a standardized decision-making model and a quantitative analysis system are established, so that the dependence on personal experience is effectively reduced, and the scientificity and consistency of a station scheme are improved; automatic data processing and an intelligent algorithm are adopted, site parameters and equipment information are rapidly analyzed, and the scheme making period is greatly shortened.

The application discloses an automatic emergency steering control method considering driver comfort, comprising the following steps: a vehicle-mounted sensor acquires ego vehicle information, a camera, a millimeter wave radar and an angular radar sensor acquire front three-lane dangerous target information; according to the dangerous target information, a dangerous target with minimum TTC, minimum relative longitudinal distance or minimum relative lateral distance is judged as a main dangerous target through arbitration, and information of the main dangerous target is output; according to the ego vehicle position, a path cluster is planned by combining a quintic polynomial and a scattering point method, and the optimal path is screened out through collision checking; according to the ego vehicle information, longitudinal speed planning is carried out, and an optimal longitudinal speed curve is planned; aiming at the optimal path, far and near preview points are adopted, a far point is processed by using a steady yaw angular velocity gain, a near point is processed by using PID control, and a final steering wheel turning angle is obtained through superposition; aiming at the optimal longitudinal speed planning curve, a feedforward and feedback combined method is adopted to calculate a final expected acceleration.