Real-time trajectory planning method for unmanned vehicles based on speed obstacles
What is Al technical title?
Al technical title is built by PatSnap Al team. It summarizes the technical point description of the patent document.
A speed obstacle and trajectory planning technology, applied in the field of intelligent transportation systems, can solve the problems of calculation efficiency of difficult planning results, large calculation volume of computational geometry methods, etc.
Inactive Publication Date: 2018-03-02
XI AN JIAOTONG UNIV
View PDF7 Cites 1 Cited by
Summary
Abstract
Description
Claims
Application Information
AI Technical Summary
This helps you quickly interpret patents by identifying the three key elements:
Problems solved by technology
Method used
Benefits of technology
Problems solved by technology
The fourth type of method is to use the velocity information to directly determine the potential collision possibility, and plan directly in the configuration-velocity space through the exhaustive method or the intelligent search method. The advantage of this strategy is that it does not increase the dimension of the search space. However, when When there are many dynamic obstacles, the computational geometry method involved in this method has a large amount of calculation, and finding an efficient intelligent search method is the key to this type of method
Under the condition of multiple dynamic obstacles, most of the existing online trajectory planning methods for unmanned vehicles are difficult to balance the accuracy of the planning results and the computational efficiency of the planning process
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more
Image
Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
Click on the blue label to locate the original text in one second.
Reading with bidirectional positioning of images and text.
Smart Image
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0062] In the process of driving in the real environment, unmanned vehicles often need to perform complex maneuvers such as changing lanes, avoiding obstacles, or turning in a dynamic environment where multiple vehicles traveling in the same direction and pedestrians in different directions interfere. A reasonable and effective real-time trajectory planning method is the premise and foundation for unmanned vehicles to drive safely in dynamic environments.
[0063] The present invention will be further described in detail below.
[0064] see figure 1 , a real-time trajectory planning method for unmanned vehicles based on speed obstacles in the present invention is divided into the following seven steps, each step is specifically as follows:
[0065] 1) Construct the node n of the anti-collision maneuver search tree based on the current position of the unmanned vehicle A i,j :
[0066] see figure 2 , here the state space of the unmanned vehicle is represented by the anti-co...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
PUM
Login to view more
Abstract
The invention discloses an unmanned ground vehicle real-time track planning method based on a speed impediment. The method comprises the following steps of: 1, constructing a node n<i, j> of an anti-collision mobile search tree on the basis of the current position of an unmanned ground vehicle A; 2, constructing a reachable anti-collision speed set RAV<j>(t) of the unmanned ground vehicle A on the basis of the speed of the unmanned ground vehicle A and the speed of an obstacle; 3, calculating the optimum speed (defined as in the description) of the current planning moment through a cubic polynomial smooth controllable unit; 4, setting a speed risk factor (defined as in the description); 5, selecting a new speed, i.e., an operational character o<i, j, l> at the moment t, on the basis of the reachable speed set RAV<j>(t) and the speed risk factor; 6, constructing a branch e<j, k> on the basis of the node n<i, j> and the operational character o<i, j, l>, and obtaining a node n<i+1, k> at the moment t<i+1> or the moment t+T<S>; and 7, if the n<1+i, k> node state is in a minimum neighborhood of the target state g, completing the algorithm, and otherwise, returning to the first step for cyclic calculation. The method provided by the invention is applicable to real-time track planning under various mobile conditions such as unmanned ground vehicle lane change, crossing turning and obstacle avoiding; the real-time performance and the high precision of the planning can be ensured under the condition of existence of a plurality of dynamic obstacles; and the requirements of the planning speed and the track smoothness can be met to the maximum degree.
Description
【Technical field】 [0001] The invention relates to the technical field of intelligent transportation systems, in particular to a real-time trajectory planning method in an unmanned driving system. 【Background technique】 [0002] Unmanned vehicles are not only an important part of the intelligent transportation system, but also a research hotspot in the field of mobile robot research. Trajectory planning methods for unmanned vehicles under static environmental conditions have achieved a lot of results, but trajectory planning in dynamic environments is much more complicated than trajectory planning in static environments, so there is no unified and effective planning method. [0003] Current approaches to solving trajectory planning problems in dynamic environments mainly fall into four categories. The first type of method is similar to the first type of static environment trajectory planning method, except that a one-dimensional time axis is added to the search space, and th...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
Application Information
Patent Timeline
Application Date:The date an application was filed.
Publication Date:The date a patent or application was officially published.
First Publication Date:The earliest publication date of a patent with the same application number.
Issue Date:Publication date of the patent grant document.
PCT Entry Date:The Entry date of PCT National Phase.
Estimated Expiry Date:The statutory expiry date of a patent right according to the Patent Law, and it is the longest term of protection that the patent right can achieve without the termination of the patent right due to other reasons(Term extension factor has been taken into account ).
Invalid Date:Actual expiry date is based on effective date or publication date of legal transaction data of invalid patent.