Local path planning method for unmanned driving based on equal-step sampling a* algorithm
A technology for local path planning and unmanned driving, which is applied in the directions of road network navigators, navigation, instruments, etc., and can solve the problems that the algorithm does not meet the constraints of vehicle kinematics and cannot be directly controlled by vehicles.
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Embodiment Construction
[0056] The present invention adds the idea of equal-step sampling into the local path planning strategy, and proposes a new cost function. The specific implementation steps are as follows:
[0057] Step 1: Define the search step size and search security domain;
[0058] The search step is defined as the distance the vehicle advances within a control period, so the calculation formula for the search step is:
[0059]
[0060] Among them, Step represents the search step size, l represents the accuracy of the raster image, v represents the current driving speed of the vehicle, and T represents the update time of the local path.
[0061] Due to the possibility of changing the direction of the vehicle, in order to ensure that every node in the path is safe, the circular safety domain is used to judge, and the radius of the circular domain is:
[0062]
[0063] Here L vehicle is the body length, and max( ) is the maximum value function. When the parent node of the current ...
PUM
Abstract
Description
Claims
Application Information
- R&D Engineer
- R&D Manager
- IP Professional
- Industry Leading Data Capabilities
- Powerful AI technology
- Patent DNA Extraction
Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.
© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com