A local path planning method based on moth fire suppression-intelligent vehicle course angle optimization comprises an intelligent vehicle local path planning system and is characterized in that a sensor unit transmits road information to a potential field force calculation unit; an obstacle entering safety ellipse judgment unit judges whether to enter a safety ellipse or not; the moth-fire-fighting-based optimal course angle calculation unit receives a signal that an obstacle has entered a safe ellipse, outputs an optimal course angle and transmits the optimal course angle to the next-step position calculation unit; the local minimum value judgment unit judges whether the intelligent vehicle is in a local minimum value or not; penalty terms calculated by the penalty term unit are input into the potential field force calculation unit, and the potential field force calculation unit recalculates potential field force; and the vehicle reaching target point judgment unit receives the signal that the intelligent vehicle is not trapped in the local minimum and judges whether the intelligent vehicle reaches the target point or not according to a judgment rule. According to the invention, the possibility of collision between the intelligent vehicle and the obstacle in the driving process is reduced, and the application range of path planning is widened.
一种基于飞蛾扑火‑智能车辆航向角优化的局部路径规划方法,包括智能车辆局部路径规划系统,传感器单元将道路信息传递给势场力计算单元;障碍物进入安全椭圆判断单元判断是否进入安全椭圆;基于飞蛾扑火最优航向角计算单元接收障碍物已经进入安全椭圆信号,输出最优航向角传输到下一步位置计算单元;局部最小值判断单元判定智能车辆是否陷入局部最小值;惩罚项单元计算出的惩罚项输入到势场力计算单元,势场力计算单元重新计算势场力;车辆达到目标点判断单元接收到智能车辆未陷入局部最小信号,根据判定规则判断智能车辆是否达到目标点。本发明降低了智能车辆行驶过程中与障碍物发生碰撞的可能性,拓宽了路径规划的应用范围。
Local path planning method based on moth fire suppression-intelligent vehicle course angle optimization
基于飞蛾扑火-智能车辆航向角优化的局部路径规划方法
2024-09-06
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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