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Unmanned vehicle motion planning method oriented to planning control joint optimization

An unmanned vehicle, motion planning technology, applied in non-electric variable control, control/regulation systems, two-dimensional position/channel control, etc., can solve problems such as vehicle motion results that do not meet expected requirements

Active Publication Date: 2020-09-15
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

[0004] Aiming at the above-mentioned problem that the path planning of unmanned vehicles in the prior art leads to the fact that the motion results of the actual vehicles do not meet the expected requirements, the present invention provides an unmanned vehicle motion planning method oriented to joint optimization of planning and control, which improves the planning efficiency and ensures the planning efficiency. Consistency with the control, so that the motion results of the vehicle can effectively meet the expected requirements

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  • Unmanned vehicle motion planning method oriented to planning control joint optimization
  • Unmanned vehicle motion planning method oriented to planning control joint optimization
  • Unmanned vehicle motion planning method oriented to planning control joint optimization

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Embodiment Construction

[0077] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0078] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

[0079] In addition, in t...

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Abstract

The invention discloses an unmanned vehicle motion planning method oriented to planning control joint optimization. The method comprises the steps: obtaining a global linearized model through the recognition of an original kinetic model of a vehicle, and obtaining a simplified model through the order reduction of the global linearized model. During planning, a simplified kinetic model is considered and the non-convex obstacle constraint is also convex to consider the existing obstacle constraint, and the planning module plans the trajectory, the speed and the like by combining the simplified model and a rolling time domain ADP method, so that the planning efficiency is improved, the consistency of planning and control is ensured, and the motion result of the vehicle effectively meets the anticipated requirements.

Description

technical field [0001] The invention relates to the technical field of motion planning, in particular to an unmanned vehicle motion planning method oriented to joint optimization of planning control. Background technique [0002] In recent years, unmanned driving, as an important application of artificial intelligence, has received extensive attention and research from researchers. The task structure of unmanned vehicles is mainly divided into three types: perception, planning, and control. Generally speaking, planning is divided into global planning and local planning. Global planning is usually based on high-precision positioning maps such as GPS to plan a feasible path from the starting point to the end point. Local planning is usually planning within a short distance, planning the speed and trajectory curve from the current point to a certain distance ahead. There may be obstacles, vehicles and other external interference between the current point and the preview point,...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221Y02T10/40
Inventor 张兴龙徐昕陆阳周星方强
Owner NAT UNIV OF DEFENSE TECH
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