A path planning system and method for a self-driving vehicle belong to the field of path planning, and utilize at least one sensor to detect surrounding environment information of the vehicle and convert the surrounding environment information into an aerial view including coordinate information of each coordinate point. The system determines and marks lane edges, lane lines and other vehicles in the aerial view according to the coordinate information, and then calculates a lane center point and finds out a front vehicle according to the lane edges, the lane lines and the other vehicles. Then, calculating the speed of the front vehicle according to the position of the front vehicle, and estimating a predicted path of the front vehicle; if the predicted path of the preceding vehicle is the same as the driving path of the vehicle, taking the preceding vehicle as a path reference point; otherwise, the lane edge is used as a path reference line to calculate the final path of the vehicle. According to the method, the path can be planned through the point cloud data, the cost required for recording high-precision map data is greatly reduced, and the storage space occupied by the data is reduced.
一种自驾车的路径规划系统及方法,属于路径规划领域,利用至少一传感器检测一本车的周围环境信息,将周围环境信息转换成一鸟瞰图,其中包括每一坐标点的坐标信息。系统根据坐标信息判别并标记出鸟瞰图中的车道边缘、车道线及他车,再据以计算一车道中心点及找出前车。接着,根据前车位置计算前车车速,并估计前车的一预测路径。若前车的预测路径与本车的行驶路径相同时,以前车作为一路径参考点;反之,则以车道边缘作为一路径参考线,以计算本车的最终路径。本发明通过点云资料即可规划路径,大幅减少录制高精图资所需的成本,减少资料占用的储存空间。
Path planning system and method for self-driving vehicle
自驾车的路径规划系统及方法
2023-01-20
Patent
Electronic Resource
Chinese
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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