The invention discloses an intelligent auxiliary driving route planning system for a pilotless automobile, and the system comprises an environment sensing module which is used for obtaining vehicle parameter information, driving speed information, path occupation information and obstacle information in a vehicle driving region; the map construction module is used for constructing a space-time three-dimensional map based on the vehicle parameter information, the driving speed information, the path occupation information and the obstacle information; the path planning module is used for planning an advancing path of the vehicle by adopting a space-time A * algorithm based on the space-time three-dimensional map; and the vehicle control module is used for controlling the vehicle to run along the planned path based on the dynamic collision method. The path planning system not only considers the space dimension in the vehicle traveling process, but also adds the time dimension into the path planning process, so that the influence of conflicting vehicles in the vehicle traveling process can be avoided at the same time, the occurrence of traffic accidents is effectively reduced, and the normal operation of traffic is facilitated.

    本发明公开了一种无人驾驶汽车智能辅助行车路线规划系统,包括:环境感知模块,用于获取车辆行驶区域内的车辆参数信息、行驶速度信息、路径占用信息以及障碍物信息;地图构建模块,用于基于所述车辆参数信息、行驶速度信息、路径占用信息以及障碍物信息,构建时空三维地图;路径规划模块,用于基于所述时空三维地图,采用时空A*算法规划车辆的行进路径;车辆控制模块,用于基于动态碰撞方法,控制车辆沿着规划路径行驶。本发明的路径规划系统不仅考虑在了车辆行进过程中的空间维度,将时间维度加入到了路径规划的过程中,这样可以同时避免在车辆行进的过程中受到冲突车辆的影响,有效减少交通事故的发生,有利于交通的正常运行。


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    Title :

    Unmanned automobile intelligent auxiliary driving route planning system


    Additional title:

    一种无人驾驶汽车智能辅助行车路线规划系统


    Contributors:
    LU GUOPING (author) / WU GUIJUN (author) / SI TINGTING (author) / ZHANG ZHENZHU (author)

    Publication date :

    2023-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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