The invention discloses a multi-axle vehicle real-time motion planning method based on an event trigger mechanism, aims to realize a more real-time scene-based motion planning process of a multi-axle vehicle, and specifically comprises the following steps: (1) acquiring initial information of the multi-axle vehicle and an obstacle by using a sensor, comprise the barrier relative distance, the barrier speed, the barrier course angle, the self-vehicle position, the self-vehicle course angle and the self-vehicle speed; (2) designing a multi-axle vehicle motion state transition module based on an event triggering mechanism; and (3) generating a motion planning path in real time for different motion states of the multi-axle vehicle, generating a smooth curve from the current position of the multi-axle vehicle to a target point as a candidate path based on the initial information of the multi-axle vehicle and the obstacle, and constructing a cost function to obtain an optimal path. According to the method, a time triggering mechanism is introduced into real-time motion planning of the multi-axle vehicle, the collision detection circle is constructed for the multi-axle vehicle, the driving safety is further guaranteed while the environment change response speed is higher, and the method can be used for a dynamic scene.
本发明公开了一种基于事件触发机制的多轴车实时运动规划方法,旨在实现多轴车更实时的基于场景的运动规划过程,具体包括以下步骤:(1)利用传感器获取多轴车和障碍物的初始信息,包括障碍物相对距离、障碍物速度、障碍物航向角、自车位置、自车航向角、自车速度;(2)设计一种基于事件触发机制的多轴车运动状态迁移模块;(3)面向多轴车不同运动状态实时生成运动规划路径,基于多轴车和障碍物的初始信息生成从多轴车当前位置到目标点的平滑曲线作为候选路径,构建代价函数获取最佳路径。本发明将时间触发机制引入多轴车实时运动规划并对多轴车构建碰撞检测圆,对环境变化响应速度更快的同时进一步保障行驶安全,能用于动态场景。
Multi-axle vehicle real-time motion planning method based on event triggering mechanism
一种基于事件触发机制的多轴车实时运动规划方法
2023-12-05
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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