The invention discloses a driving path planning method for an automatic driving vehicle. The method comprises the following steps: step 1, acquiring a vehicle position at the current moment, obstacle positions around the vehicle and a planned path end point position; 2, constructing an artificial potential field function, wherein the artificial potential field function comprises a gravitational field function and a repulsive field function; 3, according to the gravitational field function and the repulsive force field function, the gravitational force and the repulsive force borne by the vehicle are obtained, and the resultant force borne by the vehicle is obtained according to the gravitational force and the repulsive force borne by the vehicle; 4, determining a target course angle of the vehicle according to the resultant force borne by the vehicle, and updating the position of the vehicle at the next moment according to the target course angle; repeating the step 2 to the step 4 until the vehicle arrives at the end point of the planned path; obtaining a vehicle position set; and 5, taking discrete points in the vehicle position set as an initial solution, and obtaining a smooth planned path based on a quadratic programming method.

    本发明公开了一种自动驾驶车辆行驶路径规划方法,包括:步骤一、获取当前时刻车辆位置、车辆周边的障碍物位置以及规划路径终点位置;步骤二、构建人工势场函数,其包括:引力场函数和斥力场函数;步骤三、根据所述引力场函数和所述斥力场函数分别得到车辆受到的引力和斥力,并根据车辆受到的引力和斥力得到车辆受到的合力;步骤四、根据车辆受到的合力确定车辆的目标航向角,根据所述目标航向角更新下一时刻车辆的位置;重复进行步骤二至步骤四,直到车辆到达规划路径终点;得到车辆位置集合;步骤五、以车辆位置集合中的离散点作为初始解,基于二次规划方法的到平滑的规划路径。


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    Title :

    Driving path planning method for autonomous vehicle


    Additional title:

    一种自动驾驶车辆行驶路径规划方法


    Contributors:
    DUAN MIN (author) / SUN QIFENG (author)

    Publication date :

    2025-01-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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