Automatic driving vehicle motion planning method based on linear constraint
Automatic driving vehicle motion planning method based on linear constraint
- Neue Suche nach: CHEN JIAN
- Neue Suche nach: ZHU XIAOYUAN
- Neue Suche nach: MA YAN
- Neue Suche nach: CHEN JIAN
- Neue Suche nach: ZHU XIAOYUAN
- Neue Suche nach: MA YAN
The invention discloses an automatic driving vehicle motion planning method based on linear constraint. The method comprises the following steps that an unmanned vehicle and peripheral equipment are configured, the current motion state of the vehicle, the current motion state of a moving obstacle and the position of a static obstacle are obtained, and the current motion state comprises the position, the speed and the orientation; and according to the obtained current motion state of the vehicle and the obtained current motion state of the moving obstacle, a motion planning algorithm based on abehavior decision module and a constraint simplifier is utilized to enable the unmanned vehicle to complete vehicle motion planning in the presence of the potential obstacle. According to the method,the unmanned vehicle is enabled to have real-time motion planning capability in a high-dynamic and multi-moving-obstacle complex scene. Meanwhile, the behavior decision module enables the algorithm to independently complete the planning of the motion trail without distinguishing two roads, thereby enabling the unmanned vehicle to better adapt to the structured and unstructured roads, and improving the real-time processing performance of the unmanned vehicle.
本发明公开了一种基于线性约束的自动驾驶车辆运动规划方法。发明包括以下步骤：配置无人驾驶车辆及外围设备，获得自身车辆的当前运动状态，移动障碍物的当前运动状态以及静态障碍物位置，当前运动状态包括位置、速度和朝向；根据获得的自身车辆的当前运动状态和移动障碍物的当前运动状态利用基于带有行为决策模块以及约束简化器的运动规划算法，使无人驾驶车辆在存在潜在障碍物情况下完成车辆运动规划。本发明使无人驾驶车辆具有在高动态和多移动障碍物的复杂场景下实时运动规划能力。同时行为决策模块使算法不需要区分两种道路单独完成运动轨迹的规划，从而让无人驾驶车辆更好的适应结构化以及非结构化道路，提高了无人驾驶车辆的实时处理性能。
Dokumentinformationen
Automatic driving vehicle motion planning method based on linear constraint
基于线性约束的自动驾驶车辆运动规划方法
2021-01-08
Patent
Elektronische Ressource
Chinesisch
| IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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