Path planning method and path planning device

A path planning and planning technology, applied in road network navigators, traffic flow detection, collision avoidance systems, etc., can solve problems such as low path quality and inability to guarantee the smoothness of planned paths, so as to reduce the amount of calculation and increase the speed of path planning Effect

Active Publication Date: 2022-01-14
HUAWEI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the prior art, when implementing obstacle avoidance path planning based on the RRT algorithm, due to the random distribution of path sampling points, the smoothness of the planned path cannot be guaranteed. Therefore, the path quality generated by the RRT algorithm is low

Method used

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  • Path planning method and path planning device
  • Path planning method and path planning device

Examples

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Embodiment Construction

[0049] The embodiment of the present application provides a path planning method, which is used to implement obstacle avoidance path planning, and can improve the quality of the planned path.

[0050] The embodiment of the present invention can be applied to the movement of various moving target objects (including motor vehicles, bicycles, pedestrians or robots, etc.) on various forms of paths (including expressways, urban roads, country roads or indoor paths, etc.) , the following embodiments are described by taking vehicles or lanes as examples, but those skilled in the art can extend it to the path planning field of other target objects, which is not specifically limited here.

[0051] 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 multi-lane scenario, no matter which lane the unmanned vehicle is in, it can only Select adjacent lanes to cha...

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Abstract

A path planning method is used to realize obstacle avoidance path planning, which can improve the quality of the planned path. The method includes: obtaining road information, the initial position and the target position of the target object (401); determining the mapping relationship between the Cartesian coordinate system, the Frenet coordinate system and the Cartesian coordinate system and the Frenet coordinate system according to the road information; The path quality index function of the Frenet coordinate system, the path quality index function is a quadratic function; according to the path quality index function based on the Frenet coordinate system, the initial position and the destination position of the target object, the quadratic optimal programming is used to determine the Frenet coordinate system The target path; according to the mapping relationship, the target path is converted into a Cartesian coordinate system (406), and the target path is used for path planning control of the target object.

Description

technical field [0001] The present application relates to the field of intelligent driving, in particular to a path planning method and a path planning 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. Obstacle avoidance path planning is an important part of the decision-making planning module, which is to adjust the pre-planned driving route in combination with real-time traffic information to avoid collisions with obstacles. [0003] In obstacle avoidance path planning, the single-source shortest path (Dijkstra) algorithm, A* algorithm, and rapidly expanding random tree (RRT) are usually used. Taking the RRT ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446B60W30/0956B60W2556/20B60W2554/801B60W2554/802B60W2552/53G05D2201/0213G05D1/0274G05D1/0217
Inventor 刘亚林曹昊天宋晓琳
Owner HUAWEI TECH CO LTD
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