The invention discloses a path planning algorithm based on a traffic environment robustness discrimination potential field, and the algorithm comprises the steps: S1, initializing vehicle system parameters, sensing an obstacle, and setting a target point; s2, a traffic scene potential field is judged, if yes, the step S3 is carried out, if not, the step S4 is carried out, and if the traffic scene cannot be reached, parking is carried out to give way; s3, accelerating the movement in the potential field under the pushing action of the potential field; s4, slowing down and moving in the potential field under the inhibition effect of the potential field; s5, judging whether the obstacle is smoothly avoided to reach the target point or not, if so, completing a path planning algorithm process, and if not, performing the step S6; s6, judging whether the vehicle stops moving or not, if the vehicle stops moving, executing the step S2, and if the vehicle does not stop moving, executing the step S5; the global view of the unmanned vehicle can be effectively improved, the driving efficiency is improved, and the safety and comfort are improved.
本发明公开了一种基于交通环境稳健性判别势场的路径规划算法,包括,步骤S1:初始化车辆系统参数,感知障碍物并且设置目标点;步骤S2:对交通场景势场进行判别,若是,则进行步骤S3,若否,则进行步骤S4,若交通场景不可达,则停车让行;步骤S3:在势场的推动作用下加速在势场中运动;步骤S4:在势场的抑制作用下减速在势场中运动;步骤S5:判断是否顺利避障到达目标点,若是,则完成路径规划算法流程,若否,则进行步骤S6;步骤S6:判断车辆是否停止运动,若停止运动,则进行步骤S2,若未停止运动,则进行步骤S5;能够有效的提升无人驾驶车辆的全局观,达到提升行驶效率、提升安全性、舒适性。
Path planning algorithm based on traffic environment robustness discrimination potential field
一种基于交通环境稳健性判别势场的路径规划算法
2023-12-26
Patent
Electronic Resource
Chinese
IPC: | G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / 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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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