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A local path planning method for intelligent vehicles based on improved a* algorithm and morphin algorithm

A technology for local path planning and smart cars, which is used in surveying and navigation, road network navigators, navigation and other directions. Improve the planning speed and efficiency, reduce the amount of calculation, and improve the effect of planning efficiency

Active Publication Date: 2022-04-26
西安四方达汽车服务有限公司
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  • Application Information

AI Technical Summary

Problems solved by technology

The advantages and disadvantages of the A* algorithm are obvious. The advantage is that it responds quickly to the environment, the search path is direct, and it can ensure that the searched path is the shortest path. The disadvantage is that the calculation is large, and the search efficiency decreases with the increase of nodes. Good to meet the real-time requirements of the path planning algorithm when the vehicle is moving at high speed

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  • A local path planning method for intelligent vehicles based on improved a* algorithm and morphin algorithm
  • A local path planning method for intelligent vehicles based on improved a* algorithm and morphin algorithm
  • A local path planning method for intelligent vehicles based on improved a* algorithm and morphin algorithm

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Embodiment Construction

[0030] Such as figure 1 and figure 2 Shown, the present invention is based on the realization of the intelligent vehicle local route planning method of improved A* algorithm and Morphin algorithm based on figure 1 The hardware structure shown includes a map data download module, a GPS / INS positioning and speed measurement module, a radar monitoring module, a calculation module, a driving rule knowledge base, a decision-making module, a path planning module and a vehicle control module. Among them, the map data download module, GPS / INS positioning speed measurement module and radar monitoring module form the environmental perception link. The output end of the map data download module and the driving rule knowledge base is connected to the input end of the decision-making module, the output end of the GPS / INS positioning speed measurement module and the radar monitoring module are connected to the input end of the calculation module, and the output end of the calculation mo...

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Abstract

The invention discloses a local path planning method for smart cars based on the improved A* algorithm and the Morphin algorithm. * The algorithm is improved. When the smart car is detected to be far away from the obstacle vehicle, the grid side length is set to be larger to shorten the calculation time, improve the planning speed and efficiency, and better meet the real-time requirements of the vehicle at high speed; After the improved A* algorithm plans an initial path, the initial path planned by the A* algorithm is smoothly optimized by introducing the Morphin algorithm, so that it meets the kinematic constraints of the vehicle and is more conducive to vehicle tracking; Carry out rolling planning, check whether there are obstacles on the remaining path of the planned path every time a rolling cycle passes, and re-plan the path if there is an obstacle, so that the planned path can adapt to the complex and changeable road environment.

Description

technical field [0001] The invention relates to the field of intelligent vehicle control, in particular to a local path planning method for an intelligent vehicle, which is based on an improved A* algorithm and a Morphin algorithm. Background technique [0002] Among the many traffic accidents, traffic accidents caused by human factors account for a large proportion, and unmanned vehicles, as a powerful means to reduce traffic accidents, are attracting the research of many scholars. The execution process of unmanned vehicles includes environmental perception, behavior decision-making, path planning, and trajectory tracking. Path planning is responsible for interpreting the macro-orders of the decision-making layer into a path curve that can be tracked by the vehicle. At the same time, it is necessary to ensure that the planning The path obtained can adapt to the real-time nature of the vehicle's high-speed movement and the complexity of the surrounding road environment, and ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34G01C21/30
CPCG01C21/3446G01C21/30G01C21/343
Inventor 江洪姜民
Owner 西安四方达汽车服务有限公司
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