The invention discloses a dynamic planning-based obstacle detouring decision-making method for intelligent driving, and the method comprises the steps: building a Frenet coordinate system, carrying out the segmented sampling of a longitudinal lane according to a preset distance, setting an initial passable region according to a sampling point, carrying out the obstacle collision detection in the initial passable region, and obtaining a plurality of safe passable regions, the optimal passing area is selected based on dynamic planning calculation, the passing space is obtained based on the optimal passing area, the detour track of the vehicle is solved, the obstacle point cloud and the two-dimensional frame can be considered at the same time when the passing area is calculated, separate calculation is not needed, the calculation power and time are saved, and the calculation efficiency is improved. The optimal passable area solution space is calculated by adopting a dynamic planning algorithm, the method has a higher solution success rate, passable routes can be calculated, the method is not blocked by broken roads, the method is more in line with human selection, the time complexity is reduced by adopting a passable area scoring algorithm, and the time consumed for sampling and calculating the roads is reduced.
本发明公开一种智能驾驶基于动态规划的障碍物绕行决策方法,该方法建立Frenet坐标系,对纵向车道按预设距离分段采样,根据采样点设置初始的可通行区域,在初始可通行区域进行障碍物碰撞检测得到多个安全的可通行区域,通过基于动态规划计算选择最佳的通行区域,基于最佳的通行区域获得通行空间,并求解出车辆的绕行轨迹,该方法在计算通行区域时可同时考虑障碍物点云与二维框,不需要分开计算,节省了算力与时间,采用动态规划的算法计算最优的可通行区域解空间,具有更高的求解成功率,能够计算出可通行的路线,不会被断头路阻塞,更符合人的选择,且采用可通行区域打分算法降低了时间复杂度,对道路进行采样,计算耗时降低。
Obstacle detouring decision-making method based on dynamic planning for intelligent driving
一种智能驾驶基于动态规划的障碍物绕行决策方法
2023-11-17
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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