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Method for eliminating vehicle collision in operation result of optimal path algorithm

A technology of optimal path and operation results, applied in vehicle position/route/height control, motor vehicles, transportation and packaging, etc., can solve problems such as unallowable and harmful, and achieve the effect of avoiding point collisions and edge collisions

Active Publication Date: 2021-09-07
XIAMEN UNIV
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  • Summary
  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

This kind of point collision and edge collision is harmful or even not allowed in some occasions

Method used

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Embodiment Construction

[0015] In the claims and description, unless otherwise defined, terms such as "first", "second" or "third" are used to distinguish different objects, rather than to describe a specific sequence.

[0016] In the claims and description, unless otherwise defined, the terms "comprising", "having" and their variations mean "including but not limited to".

[0017] In the claims and description, unless otherwise defined, the term "vehicle" refers to any object that can move between real vertices on the "map", and the vehicle can be controlled by the optimal path algorithm to move along the established path.

[0018] In the claims and description, unless otherwise defined, the term "there is a transfer cost" means that the transfer cost of a vehicle from a real vertex to an adjacent real vertex is a value lower than a preset transfer cost threshold, and the transfer cost The threshold can be determined according to actual needs, and is generally a maximum value much higher than the no...

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PUM

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Abstract

The invention discloses a method for eliminating vehicle collision in an operation result of an optimal path algorithm. The method comprises the steps: querying in a first group of optimal paths according to a point collision query condition and an edge collision query condition to obtain a first controllable vehicle, a second controllable vehicle and first to sixth real vertexes; correcting a first vehicle transfer system through a first correction method to generate a second vehicle transfer system; inputting the second vehicle transfer system into a path planning sub-algorithm to obtain a second group of transfer systems; and correcting the second group of transfer systems through a second correction method to generate a third group of transfer systems, and inputting the third group of transfer systems into the optimal path sub-algorithm to generate a second group of optimal paths. The method can eliminate point collision and edge collision possibly occurring in the operation result of the optimal path algorithm, and can avoid the occurrence of strong connection components, so as to ensure the existence of the optimal path.

Description

technical field [0001] The present application relates to the field of vehicle path planning, in particular to a method for eliminating vehicle collisions in the running results of an optimal path algorithm. Background technique [0002] In the prior art, the optimal path of the controllable vehicle can be planned through the optimal path algorithm. The optimal path algorithm can be used to plan the path of several vehicles with different starting points, the same speed and starting at the same time, so that all controllable vehicles can enter the group optimal cycle path, where the group optimal cycle path is defined as making all possible The maximum time interval for the control vehicle to complete the task specification is the smallest; the map definition here has several real vertices and the adjacent real vertices of each real vertex; the so-called "adjacent" means that two real vertices can be directly connected, and it is particularly emphasized here that The map al...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221
Inventor 喻骁郑逸炜兰维瑶
Owner XIAMEN UNIV
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