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Wharf environment based driving track generation system and method

A driving trajectory and trajectory generation technology, applied in the direction of external condition input parameters, control devices, transportation and packaging, etc., can solve the problems of poor flexibility and autonomy, achieve high flexibility, high stability, and simple implementation principles

Active Publication Date: 2019-10-18
深圳数翔科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of poor flexibility and autonomy of the existing driving trajectory generation system and method in the field of automatic driving, and propose a method for the driving trajectory generation system based on the wharf environment

Method used

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  • Wharf environment based driving track generation system and method
  • Wharf environment based driving track generation system and method
  • Wharf environment based driving track generation system and method

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Experimental program
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specific Embodiment approach 1

[0026] A driving trajectory generation system based on the wharf environment in this embodiment is applied to a driving trajectory generation system in closed and semi-closed scenes, and its composition includes:

[0027] The positioning module is used to provide the current stable and accurate pose, speed, and acceleration of the vehicle in real time through gps, imu, wheel encoders, etc.; gps is the global positioning system; imu is the inertial measurement device;

[0028] The perception module is used to provide real-time obstacle information through laser radar, camera, millimeter-wave radar, etc. The obstacle information includes the outer envelope of the obstacle outline, the obstacle travel speed and the obstacle travel direction;

[0029] The port dispatching module is used to issue the planning command of the global path reference line and target point information according to the planning scenario. The target point information includes the state information of the ve...

specific Embodiment approach 2

[0034] A driving trajectory generation system based on the wharf environment in this embodiment is applied to the driving trajectory generation system in closed and semi-closed scenes, as a subsystem of the entire automatic driving system, and its composition includes:

[0035] The trajectory generation system receives the instructions of the dispatching system, collects relevant information, and sends the generated running trajectory as an output to the execution system of the vehicle, finally guiding the vehicle to reach the predetermined location safely;

[0036] The trajectory generation system needs to receive the instructions issued by the dispatching system, generate the running trajectory from the starting point to the end point, and transmit the quality to the execution system, and go to the target location through the execution system;

[0037] The trajectory generation system includes a positioning module, a perception module, a map module, and a decision-making modu...

specific Embodiment approach 3

[0049] A method for generating a driving trajectory based on a wharf environment performed by the trajectory generation system according to the specific embodiment 1, the method includes the steps of sampling candidate trajectories, scoring the trajectory, and selecting the trajectory; wherein,

[0050] The step of sampling candidate trajectories is to generate driving trajectories according to the vehicle’s own position information provided by the positioning module and the road center reference line information provided by the map module, and uniformly scatter point samples at a certain density in the horizontal and vertical directions of the road center reference line , and fit the horizontal and vertical states through polynomials, and use polynomial equations to describe the driving trajectory of the vehicle position to each sampling point;

[0051] The steps of trajectory scoring are to score each driving trajectory according to the following 4 points, in order to facilit...

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Abstract

The invention discloses a wharf environment based driving track generation system and method, and belongs to the field of automatic driving. Existing driving track generation systems and methods in the field of automatic driving are poor in flexibility and autonomy. Point scattering and sampling on the lateral and longitudinal of a road center reference line according to a certain density can be performed, lateral and longitudinal states are fitted through polynomial, and a polynomial equation is used to describe the driving tracks that a vehicle position drives to each sampling point; scoringis performed on each driving track according to requirements of destination arriving, conformity of traffic regulations, bumping detection passing and stable comfort; after lateral tracks and longitudinal tracks are generated, the lateral tracks and the longitudinal tracks are synthetized, and the optimum planning track according with the requirements is selected. The system is simple in implementation principle and high in stability and can generate safe and feasible driving tracks in real time; and compared with wharf AGV of completely fixed driving lines, the system has high flexibility and can realize obstacle avoidance, vehicle following and other autonomous decisions.

Description

technical field [0001] The invention relates to a driving trajectory generation system and method based on a wharf environment. Background technique [0002] Due to the advantages of saving labor costs, reducing accident rate, and reducing fuel consumption, all walks of life are currently working hard to promote the development of autonomous driving. With the development of various on-board sensor technologies and artificial intelligence technologies, autonomous driving technology is also increasingly commercialized. Especially in closed and semi-closed application scenarios, such as automated terminals, airports, closed parks, etc., autonomous driving technology is expected to be the first to be commercialized. [0003] The automatic driving of vehicles is mainly realized through perception, decision-making and control. The environment of the terminal is relatively closed, and there is a scheduling system in it, which does not require too much flexibility. However, the au...

Claims

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Application Information

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IPC IPC(8): B60W40/02B60W40/10B60W40/105B60W40/107B60W50/00
CPCB60W40/10B60W40/105B60W40/107B60W40/02B60W2050/0043B60W2050/0075B60W2520/10B60W2520/105B60W2720/10B60W2720/24B60W2556/50B60W2556/45B60W2554/00
Inventor 廖志闯魏晓宇
Owner 深圳数翔科技有限公司
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