The invention is suitable for the technical field of intelligent transportation, and provides a path planning method and device for an unmanned vehicle, equipment and a medium. The path planning method for the unmanned vehicle comprises the following steps: constructing a historical trajectory sequence according to trajectory points of the unmanned vehicle at T moments; randomly selecting candidate track points at N moments after the Tth moment based on the track point of the unmanned vehicle at the current moment; obtaining a direction selection probability, a distance selection probability and a speed selection probability of each candidate trajectory point; calculating a comprehensive selection probability of the candidate track points, and selecting a target track point of the unmanned vehicle according to the comprehensive selection probability; in the process that the unmanned vehicle moves towards the target track point, according to the gravitation of the target track point to the unmanned vehicle and the repulsive force of the obstacle to the unmanned vehicle, the traction force of the unmanned vehicle is obtained, and the traction force controls the unmanned vehicle to move to the target track point. According to the path planning method provided by the invention, the rationality of path planning of the unmanned vehicle can be improved.
本申请适用于智能交通技术领域,提供了一种无人车辆的路径规划方法、装置、设备及介质。该无人车辆的路径规划方法包括:根据无人车辆在T个时刻的轨迹点构建历史轨迹序列;基于无人车辆在当前时刻的轨迹点,随机选择第T个时刻之后N个时刻的候选轨迹点;获取每个候选轨迹点的方向选择概率、距离选择概率和速度选择概率;计算得到候选轨迹点的综合选择概率,并根据综合选择概率选择无人车辆的目标轨迹点;在无人车辆向目标轨迹点移动的过程中,根据目标轨迹点对无人车辆的引力和障碍物对无人车辆的斥力,获取无人车辆的牵引力,牵引力控制无人车辆移动至目标轨迹点。本申请提供的路径规划方法能够提高无人车辆的路径规划的合理性。
Path planning method, device and equipment for unmanned vehicle and medium
一种无人车辆的路径规划方法、装置、设备及介质
2023-11-03
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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