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Path selection method and path selection device

A path selection and path point technology, applied in instruments, data processing applications, forecasting, etc., can solve the problems of low path selection efficiency and high complexity of inequality constraints, so as to improve the path selection efficiency, reduce the amount of calculation, and improve the path selection. effect of speed

Pending Publication Date: 2021-04-09
HUAWEI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Since it is necessary to check whether the candidate paths will collide with obstacles one by one, when the road environment is complex and there are many obstacle data, the inequality constraints for collision detection are highly complex and the path selection efficiency is low.

Method used

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  • Path selection method and path selection device
  • Path selection method and path selection device

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Embodiment Construction

[0059] The embodiment of the present application provides a route selection method, which is used for route selection in intelligent driving, which can avoid selecting candidate routes one by one, reduce the calculation amount during route selection, and improve the efficiency of route decision-making.

[0060] The embodiment of the present application can be applied to the movement of various moving objects (including motor vehicles, non-motor vehicles, pedestrians or robots, etc.) on various forms of paths (including expressways, urban roads, country roads or indoor paths, etc.), Subsequent embodiments are described by taking a vehicle or a lane as an example, but those skilled in the art can extend it to the path planning field of other objects, which is not specifically limited here.

[0061] In the embodiment of this application, it is assumed that the unmanned vehicle is driving on a structured road, and the actual application scenario may include multiple lanes. In the m...

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Abstract

The invention provides a path selection method, which is used for determining an optimal obstacle avoidance path from a plurality of candidate paths and can improve the path selection efficiency. The method comprises the following steps: acquiring road basic information of a target road area, position information of an obstacle in the target road area and a plurality of candidate paths of a target object in the target road area; determining an obstacle risk relationship of the target road area according to the road basic information and the position information of the obstacle, wherein the obstacle risk relationship is used for obtaining an obstacle risk of any position in the target road area; determining the comprehensive obstacle risk of each candidate path according to the obstacle risk relationship and the position distribution of each candidate path in the target road area; and determining a target path from the plurality of candidate paths according to the comprehensive obstacle risk of each candidate path.

Description

technical field [0001] The present application relates to the technical field of unmanned driving, and in particular to a route selection method and a route selection device. Background technique [0002] Unmanned driving is an important part of the intelligent transportation system. After the unmanned vehicle (hereinafter referred to as the unmanned vehicle) receives various sensory information from the sensor, it analyzes the current environment, and then issues instructions to the underlying control module. This process is the main task of the decision-making planning module. Typical unmanned vehicle decision-making planning includes: global path planning, behavior decision-making and path planning. Among them, during path planning, planning algorithms are usually used to generate multiple candidate paths on the road surface, and then the best obstacle avoidance path is selected according to the geometric properties of the candidate paths and the positions of obstacles, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/04G06Q10/06G06Q50/30
CPCG06Q10/047G06Q10/0635G06Q50/40B60W60/0011B60W2554/4041B60W2554/4042B60W2554/805
Inventor 刘亚林曹昊天宋晓琳
Owner HUAWEI TECH CO LTD
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