Parking track re-planning method with no-parking obstacle avoidance function

Abstract

The invention discloses a parking track re-planning method with a non-stop obstacle avoidance function, which comprises the following steps: assuming that a vehicle finds an obstacle stone which suddenly appears in front at the moment t = t0, and an automatic driving system of the vehicle immediately executes a module A; meanwhile, when t is equal to t0, the automatic driving system of the vehicle starts an asynchronous travel, and the module B is executed in the travel; the vehicle is required to run along the path of the original set track from the moment t = t0 + TB to the moment t = t0 + TB + T; executing the module C at the moment t = t0 + TB, deducing the position information of the vehicle at the moment t = t0 + TB + T, executing the module C at the moment t = t0 + TB, and immediately executing the module D to generate a trajectorynew; and finally, checking whether the trajectorytransfer section can avoid the obstacle or not. According to the parking track re-planning method with the function of avoiding the obstacle without parking, the response time of the vehicle for coping with sudden obstacles at any time can be greatly shortened, and the vehicle does not need to reduce the vehicle speed for parking, so that brake pads are lost or fuel oil is not wasted any more.

Description

technical field [0001] The invention relates to the technical field of parking trajectory re-planning, in particular to a parking trajectory re-planning method with the function of avoiding obstacles without parking. Background technique [0002] In the mine, after the starting point and end position of the mining self-driving truck (hereinafter referred to as pose) are given, the vehicle will generate an ideal trajectory according to the parking trajectory planning technology, and then the mining truck will be tracked based on closed-loop control technology The trajectory and drive up. However, when the mining truck is driving in the mining area, there are many large stones in the mining area that will roll down the hillside or from other vehicles. If these stones fall on the parking track of the vehicle, if the vehicle continues to Driving along the original parking trajectory will inevitably hit such sudden obstacles (that is, rocks), so the vehicle needs to be re-planne...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is that when the existing mine self-driving truck encounters an obstacle, it needs to stop and re-plan the driving trajectory, resulting in a significant increase in the time-consuming driving, a significant decrease in the carrying efficiency, and poor comprehensive economic benefits. problem, a parking trajectory re-planning method with the function of avoiding obstacles without parking is proposed

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