Driverless vehicle path planning method based on three-layer architecture

Abstract

The invention discloses a driverless vehicle path planning method based on a three-layer architecture, which comprises the following steps: step 1, mapping: abstracting and mathematically describing aroad of an application scene, and representing and storing the road; and step 2, application: realizing path planning on the road network map by utilizing the established road network map of the specific scene according to task requirements. The invention has the beneficial effects that (1) global path planning and local path planning are comprehensively considered by utilizing a three-layer architecture, so that the global path planning and the local path planning are closely connected with a physical platform, more useful information is provided for the local path planning of the road, andthe planning performance is improved; an improved A-satellite search method based on a guide line is introduced into a third planning execution layer, and the guide line and key points are utilized, so that a local planning path meeting expectation is reserved to the greatest extent, and the characteristic of flexible obstacle avoidance is also kept.

Description

technical field [0001] The invention belongs to a path planning method, in particular to a path planning method for an unmanned vehicle. Background technique [0002] With the development of the automobile industry, automobiles have increasingly become an important part of social production and daily life; at the same time, automobile safety issues have gradually become the focus of attention. How to improve vehicle driving safety more effectively has become a A common problem faced by governments and research institutions of all countries. Among them, unmanned vehicles are recognized as the best way to greatly reduce traffic safety accidents, and thus become the frontier and hotspot of research in the field of transportation in the world. [0003] Unmanned vehicles are a composite system that integrates environmental perception, path planning, and motion control. Path planning is a bridge between unmanned vehicle environment perception and vehicle control. The key technol...

AI Technical Summary

Problems solved by technology

[0007] The industry separates the design of local path planning and global path planning. The advantage is that the modular design makes each part more versatile and independent, but the disadvantage is that it does not take into account the underlying platform and the global environment as a whole, and the correlation between each other It is not strong enough to cause a lot of useful information to be lost, which is not the best choice for specific driverless car applications

Images