A motion path planning method and system for an unmanned vehicle when encountering an obstacle

Abstract

The invention discloses a method for planning a movement path when an unmanned vehicle encounters an obstacle, which includes: real-time detection of the traffic conditions of the current lane where the current car is located and adjacent lanes on both sides; when an obstacle is detected in front of the current lane, Combined with the traffic conditions of adjacent lanes on both sides, determine the type of the obstacle; determine the corresponding movement path planning strategy according to the type of the obstacle; execute the corresponding movement path planning strategy, by changing lanes, decelerating and braking Or bypass obstacles to achieve obstacle avoidance processing. The invention also discloses a corresponding system. By implementing the present invention, the surrounding road traffic environment and other vehicle conditions can be comprehensively considered, and vehicles and obstacles near the lane can be automatically and safely bypassed, thereby improving the safety and comfort of driverless vehicles.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to a method and system for planning a motion path when an unmanned vehicle encounters an obstacle. Background technique [0002] The research and development of driverless cars is getting more and more attention, but to make driverless cars safer, how to enable smart cars to take into account road traffic conditions and make appropriate and smooth maneuvers around target obstacles is an important issue. subject. [0003] In the existing technology, the local path obstacle control of fully automatic unmanned vehicles is not very perfect, and there are more or less potential safety hazards. For example, when there is an obstacle in front of the lane, the existing control technology Generally, a simple control scheme is adopted to change lanes if they can change lanes, and to slow down or stop if they cannot change lanes. However, it is difficult for this control scheme to ...

AI Technical Summary

Problems solved by technology

[0003] In the existing technology, the local path obstacle control of fully automatic unmanned vehicles is not very perfect, and there are more or less potential safety hazards. For example, when there is an obstacle in front of the lane, the existing control technology Generally, a simple control scheme is adopted to change lanes if they can change lanes, and slow down or stop if they cannot change lanes.

However, it is difficult for this control scheme to take into account various complex working conditions on social roads. At the same time, it is easy to be rear-ended by vehicles coming from behind because of encroaching on adjacent lanes without considering the conditions of vehicles in adjacent lanes. Significantly aimed at the obstacle avoidance action of high-speed vehicles entering the lane ahead, this will more or less trigger automatic lane change or violent braking action when there is no need to change lane or brake, which will bring serious discomfort to the occupants , even causing security issues

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