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Local path planning method and device

A local path planning and route technology, applied in the field of data processing, can solve problems such as poor general adaptability, reduced obstacle avoidable range, increased calculation amount, etc., and achieve the effect of facilitating lateral control

Active Publication Date: 2020-10-09
CHONGQING LANDSHIP INFORMATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the embodiment of the present invention is to provide a local path planning method and device to solve the problems of poor general adaptability, increased calculation amount and reduced obstacle avoidable range existing in the path planning method in the prior art

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  • Local path planning method and device

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Embodiment Construction

[0081] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0082] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0083] figure 1 It is a schematic flow chart of the local path planning method provided by Embodiment 1 of the present invention. The subject of execution of this application is a terminal, server or processor with computing functions. This application takes the applicatio...

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Abstract

The invention provides a local path planning method and device, and the method comprises the steps: obtaining and processing semantic information, and obtaining decision semantic information; acquiring environment sensing information sent by an environment sensing module; obtaining dynamic obstacle prediction information and static obstacle information; acquiring current position information, laneinformation and road information of the vehicle; according to the current position information of the vehicle, the information of the lane where the current position is located, the dynamic obstacleprediction information, the static obstacle information and the decision semantic information, determining the nearest collision obstacle information of the lane where the current position is located,wherein the nearest collision obstacle information comprises position information and speed information of a nearest collision obstacle; taking the position information of the nearest collision obstacle as the center, and taking the transverse safety distance of the vehicle as the translation distance to translate left and right until no collision point exists; carrying out lane changing processing according to the transverse deviation distance and the lane information; and carrying out obstacle avoidance driving according to the maintaining route, the transition route and the extending route.

Description

technical field [0001] The invention relates to the field of data processing, in particular to a method and device for local path planning. Background technique [0002] With the development of autonomous driving technology, in order to meet the typical working conditions of urban traffic environment, autonomous vehicle obstacle avoidance and lane changing functions are particularly important. The difference from parks, campuses and other environments is that the urban traffic environment requires autonomous obstacle avoidance functions. It is not only about safe obstacle avoidance, but also pays more attention to the rationality of obstacle avoidance paths. Under the premise of taking into account the road structure, lane lines and other traffic signs, it plans to avoid obstacles that conform to the constraints of vehicle kinematics, traffic rules, and reasonable interaction with other vehicles. Change the route. [0003] At present, the typical path planning methods inclu...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/343G01C21/3415
Inventor 徐宁张放李晓飞张德兆王肖霍舒豪
Owner CHONGQING LANDSHIP INFORMATION TECH CO LTD
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