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Unmanned path planning method, system and device thereof

A path planning, unmanned technology, applied in measurement devices, control devices, transportation and packaging, etc., can solve problems such as poor scalability

Active Publication Date: 2018-02-16
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that it can only perform path planning for the lane change path, and the scalability is poor.

Method used

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  • Unmanned path planning method, system and device thereof
  • Unmanned path planning method, system and device thereof

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Embodiment 1

[0138] Aiming at the problems that the existing technology requires large storage space, cannot meet the requirements of vehicle incomplete constraints, and has poor adaptability and scalability, the present invention specially designs a new unmanned driving path planning method and system for the automatic driving system. and device.

[0139] The block diagram of the automatic driving system of this embodiment is as follows figure 2 As shown, the local path planning module performs local path planning according to the environment model information provided by the perception information fusion module, the vehicle pose information provided by the vehicle navigation and positioning module, and the global route, and outputs the planning results to the path following module. The unmanned driving path planning method of the present invention is mainly realized by the local path planning module, so other modules of the automatic driving system will not be described in detail.

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Abstract

The invention discloses an unmanned path planning method, a system and a device thereof. The method comprises the following steps: acquiring environment perception information and vehicle positioningand navigation information, wherein the environment perception information contains barrier information, curb information and lane line information, and the vehicle positioning and navigation information contains vehicle pose and a target path; conducting subpath generation according to the environment perception information and the vehicle positioning and navigation information to obtain a candidate subpath which satisfies vehicle constraints; conducting collision detection on the candidate subpath which satisfies vehicle constraints, so as to obtain a collisionless candidate subpath; conducting subpath search on the collisionless candidate subpath by A* search algorithm; and obtaining a vehicle local path according to the subpath search result. The requirement on storage space is low, and the requirement on nonholonomic constraints of vehicles can be met. The method of the invention has advantages of good adaptability and good extensibility, and can be widely applied in the field ofautomatic drive.

Description

technical field [0001] The present invention relates to the field of automatic driving, in particular to an unmanned driving path planning method, system and device. Background technique [0002] Vehicle autonomous driving technology (also known as vehicle driverless technology) has great potential in terms of travel safety, energy saving and environmental protection, and is considered to be an effective way to solve traffic congestion, reduce traffic accidents and improve environmental pollution. In the recent period, autopilot technology has received widespread attention and has become one of the main directions of future automotive development. [0003] Generally speaking, an automatic driving system includes the following modules: environment perception module, path planning module, control execution module and human-machine interface module. The above four modules are crucial to the entire automatic driving system and directly affect the intelligence of the system. Lev...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/34
CPCG01C21/20G01C21/3446B62D15/025B60W60/0011B60W2520/00B60W2552/30B60W2552/53B60W2554/40B60W2556/50G06V20/56G05D1/0217G05D1/0238G05D1/0289G06V20/58
Inventor 涂强赖健明李鹏陈盛军肖志光何涛
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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