The invention relates to a vehicle U-turn path planning method. The method comprises the following steps: acquiring road information of an entrance and an exit, and determining a minimum turning radius; determining a starting point at the entrance and determining a terminal point at the exit; if the two intersections are parallel, the vertical width of the two roads is the road space width when the two roads turn around; if the two intersections intersect at an acute angle, respectively taking the starting point and the ending point as tangent points, drawing circles tangent to the road entering the intersection and the road exiting the intersection, and taking the radius of the small circle as the road space width during turning around; if the two intersections intersect at an obtuse angle, the radius of the large circle is taken as the road space width during turning around; if half of the road space width during turning is larger than or equal to the minimum turning radius, turning path planning is conducted according to a circular arc shape or an arch shape; otherwise, planning a turning path according to a pear shape or a semi-pear shape. According to the invention, adaptability of U-turn path planning at different intersections is improved.
本发明涉及一种车辆掉头路径规划方法。方法包括:获取进路口和出路口的道路信息,并确定最小转弯半径;在进路口上确定起点,在出路口上确定终点;若两个路口平行,则两条道路的垂向宽度为掉头时的道路空间宽度;若两个路口为锐角相交,则分别以起点和终点为切点,作出与进路口道路、出路口道路相切的圆,取小圆的半径为掉头时的道路空间宽度;若两个路口为钝角相交,则取大圆的半径为掉头时的道路空间宽度;若掉头时的道路空间宽度的一半大于等于最小转弯半径,则按照圆弧形或者弓形进行掉头路径规划;否则按照梨形或半梨形进行掉头路径规划。本发明提高了不同路口掉头路径规划的适应性。
Vehicle U-turn path planning method
一种车辆掉头路径规划方法
2023-06-13
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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