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High-speed unmanned vehicle trajectory planning system and method based on multi-window sampling

A trajectory planning and multi-window technology, applied in control/regulation systems, motor vehicles, two-dimensional position/channel control, etc., can solve problems such as reduced flexibility, difficult dynamic vehicle handling, lack of dynamic reasoning ability, etc., to achieve The effect of improving processing capacity, flexible planning, and ensuring consistent optimality

Active Publication Date: 2021-06-15
XI AN JIAOTONG UNIV
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AI Technical Summary

Problems solved by technology

However, it is difficult to effectively deal with dynamic vehicles when path planning is performed first and then speed planning.
In order to improve the handling ability of dynamic obstacles, artificial potential field is introduced. However, due to the lack of dynamic reasoning ability of the method of artificial potential field, the risk assessment is only carried out in the spatial dimension, so the vehicle always tries to avoid obstacles by detour.
In addition, when considering the constraints of road rules, adding the potential field of lane lines to the model makes the planner largely inclined to choose lane keeping, which makes the planning more conservative and less flexible

Method used

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  • High-speed unmanned vehicle trajectory planning system and method based on multi-window sampling
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  • High-speed unmanned vehicle trajectory planning system and method based on multi-window sampling

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Embodiment Construction

[0058] The present invention will be further described below in conjunction with drawings and embodiments.

[0059] see figure 1 , is a schematic diagram of the overall framework of the present invention, including three modules of search space establishment, candidate trajectory sampling and optimal trajectory selection; the search space establishment module, candidate trajectory generation module and optimal trajectory selection module are sequentially connected;

[0060] (1) Search space building module

[0061] This module includes multi-window model construction and road traffic rule screening; multi-window model construction characterizes the drivable area around the unmanned vehicle in the form of dynamic windows and obtains the characteristics of each window; road traffic rule screening eliminates non-compliance based on lane line constraints A window on road traffic rules;

[0062] Because motor vehicles have a high occupancy rate in the lateral direction of the lan...

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Abstract

The invention discloses a high-speed unmanned vehicle trajectory planning system and method based on multi-window sampling. According to the method, a multi-window model is used for representing a search space for motion planning of an unmanned vehicle, and a trajectory generation type model is constructed on the basis of human driving experience and a strategy of performing speed planning and path planning in sequence, so that generated candidate trajectories have relatively high dynamic obstacle processing capability and conforms to human driving habits; and finally, the trajectory with the minimum cost is selected as the optimal trajectory for planning by means of a cost function. The unmanned vehicle trajectory planning method is suitable for high-speed structured scenes mainly including dynamic obstacles, plays an important role in improving the traffic capacity of the unmanned vehicle in the actual environment, and can be widely applied to the fields of unmanned vehicle motion planning, advanced auxiliary driving technologies and the like.

Description

technical field [0001] The invention belongs to the field of motion decision-making and planning, and relates to a high-speed unmanned vehicle trajectory planning system and method based on multi-window sampling. Background technique [0002] Trajectory planning is a very critical and core technology in the automatic driving system, which plays a vital role in the normal driving of the vehicle and the realization of functions. The high-speed scene is expected to become the first application scene to realize fully autonomous driving due to its highly structured and highly restrictive behavior. Driving trajectory has become a popular research field. Trajectory planning in high-speed scenarios is of great significance for the application of automatic driving technology and the improvement of advanced assisted driving technology. [0003] At present, before trajectory planning, the candidate area of ​​trajectory planning is usually determined by decision-making, and then the op...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223Y02T10/40
Inventor 薛建儒张琳马超李庚欣
Owner XI AN JIAOTONG UNIV
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