CN109900289A - Paths planning method and device based on closed-loop control - Google Patents
Paths planning method and device based on closed-loop control Download PDFInfo
- Publication number
- CN109900289A CN109900289A CN201910201621.9A CN201910201621A CN109900289A CN 109900289 A CN109900289 A CN 109900289A CN 201910201621 A CN201910201621 A CN 201910201621A CN 109900289 A CN109900289 A CN 109900289A
- Authority
- CN
- China
- Prior art keywords
- circle
- vehicle
- distance
- track
- father
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The present invention provides a kind of paths planning methods based on closed-loop control, comprising: obtains reference path；When, there are when the first barrier, determining its first distance in the circle using the distance between starting point and First terminal point as diameter；It is round round with First terminal point that the first father is set using starting point and first distance as radius respectively；The second father circle is determined from the son circle of the first father circle；When the round registration with First terminal point circle of m father is greater than preset first threshold value, the first and second lists are generated；At current time, the first parameter of vehicle is obtained, and calculates the second parameter of subsequent time, so that it is determined that the first track collection；According to first list and second list, the first track collection is handled；The track concentrated to treated the first track is evaluated to determine first object track, and calculates its acceleration and steering angle, when the difference at a distance from the terminal of the n-th target trajectory and terminal is less than default second threshold, generates destination path.Thus reduce the control difficulty of bottom control.
Description
Technical field
The present invention relates to technical field of data processing more particularly to a kind of paths planning methods and dress based on closed-loop control
It sets.
Background technique
With the development of artificial intelligence technology and modern manufacturing industry, automatic Pilot technology has gradually come into the day of people
Often life, the subtle trip mode for changing people.Unmanned technology can briefly be divided into perception, prediction, determine
These aspects of position, decision, planning and control.Paths planning method main task refers to according to present vehicle information, rationally spy
Rope environment space cooks up one finally convenient for controller execution, collisionless path.Motion planning is on the basis of path planning
On, the information such as speed, the steering angle of path point are configured, so that path point information is more perfect.
For path planning algorithm, other than guaranteeing the algorithm completeness under complex environment, real-time, give birth to
At whether track friendly to control module and an important judgment criteria.If track, which generates, can not adapt to vehicle mould
Type, then also proposing very high requirement to the design of controller while being unfavorable for guaranteeing control precision.
The path planning algorithm comprising motion planning is generally basede on the method for stochastical sampling, the method based on optimization at present
Deng.
Random sampling algorithms are a kind of tree search algorithms of classics, wherein foremost is exactly Quick Extended random tree
(Randomly Exploring Randomized Trees, RRT) algorithm.RRT algorithm is to expand one outward since starting point
A tree, and the expansion direction of tree is determined by sampling site random in planning space.This method is probability
It is complete and not optimal.It stochastical sampling class algorithm the problems such as there are path mutation, needs to generate by subsequent optimization and meets vehicle
Dynamic (dynamical) path.
It is excellent to carry out path by minimizing cost function based on the method for optimization by during coordinates measurement
Change.Cost function generally comprises obstacle distance limitation, vehicle acceleration, the limitation of steering wheel rotary speed, landform limitation etc..Together
When, increase the planning to vehicle movement signal in optimization item, vehicle optimal path is approached by different methods.
Inevitably there is certain uncertainty in the method path based on stochastical sampling, and the randomness of sampled point is led
Caused the wave characteristic of original path, thus the method for being mostly based on stochastical sampling need to carry out path it is further excellent
Change, this considerably increases the time-consumings of algorithm, are unable to satisfy the real-time route planning demand of unmanned vehicle.
Method based on optimization needs a large amount of computing resource and is difficult to parallel computation, while design to optimization item and excellent
The selection of change method has very high requirement, due to the complexity of optimization method, is not determined based on the planning algorithm of optimization
The time is calculated, and the method based on optimization lacks global knowledge, falls into local optimum sometimes.
In above-mentioned paths planning method, control module, i.e. the control difficulty of bottom controller are not all accounted for.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of paths planning method and device based on closed-loop control is provided, it is existing to solve
There is the control difficulty for not considering the problems of bottom controller in path planning present in calculating.
To solve the above problems, in a first aspect, the present invention provides a kind of paths planning method based on closed-loop control, institute
The method of stating includes:
The reference path of vehicle is obtained, the reference path includes beginning and end；
First terminal point is taken in the reference path；The First terminal point is between the beginning and end；
Judge using the distance between the starting point and the First terminal point as whether there are obstacles in the circle of diameter；
When there are the first barrier, the first distance of the starting point Yu first barrier is determined；First barrier
Hindering object is barrier nearest apart from starting point in barrier；The first distance is the starting point apart from first barrier
Distance subtracts the difference from the safe distance of vehicle；
Using the starting point as the center of circle, using the first distance as radius, setting the first father circle；
Using the First terminal point as the center of circle, using the first distance as radius, setting First terminal point circle；
Using the point on the circumference of first father circle as the center of circle, each of multiple centers of circle on the circumference and distance are determined
The distance of its nearest barrier, generates sub- distance set；
The geometric distance in each of multiple centers of circle on the circumference Yu the First terminal point is calculated, geometric distance is generated
Collection；
According to the sub- distance set and the geometric distance collection, the inspiration value collection of the corresponding son circle in multiple centers of circle is calculated；Institute
The radius of son circle is stated for the center of circle and away from the difference subtracted at a distance from nearest barrier from the safe distance of vehicle；
Determining that the inspiration value concentrates the corresponding son circle of the smallest inspiration value is the second father circle；
When the round registration with First terminal point circle of the m father is greater than preset first threshold value, first list is generated
And second list；The first list includes center location and radius of the first father circle to m father's circle；The second list
Including being the son circle in the center of circle to using the circumference of m father circle as the center of circle in the son circle in the center of circle using the circumference of first father circle
Position and radius；M is the integer greater than 2；
At current time, the first parameter of the vehicle is obtained；
According to first parameter at the current time and the kinetic model of vehicle, vehicle is calculated the second of subsequent time
Parameter；
According to first parameter and second parameter, first of the vehicle from current time to subsequent time is calculated
Track collection；
According to the first list and the second list, first track collection is handled, treated for generation
First track collection；
By inspiring value function, the track that first track is concentrated to treated is evaluated；
According to evaluation result, from treated, first track, which is concentrated, determines first object track；
The position taken aim in advance a little is determined on the first object track；According to the present speed of vehicle and described pre- take aim at a little
Position calculates preview distance；
According to the kinetic model of the preview distance and vehicle, the steering angle taken aim in advance a little is calculated；
According to the present speed of the pre- desired speed taken aim at a little and vehicle, calculates vehicle and taking aim at acceleration a little in advance；
The pre- steering angle taken aim at a little and acceleration of the first object track are sent to bottom controller, so that described
Bottom controller a little controls vehicle in pre- take aim at according to the pre- steering angle and acceleration taken aim at a little；
When difference at a distance from the terminal of the n-th target trajectory and the terminal is less than default second threshold, by described first
Target trajectory to the n-th target trajectory is handled, and destination path is generated；N is the integer greater than 2.
In one possible implementation, first parameter includes x coordinate, y-coordinate, court of the vehicle at current time
To, speed, steering wheel angle, it is described according to first parameter at the current time and the kinetic model of vehicle, calculate vehicle
In the second parameter of subsequent time, specifically include:
Vehicle is calculated by the following formula in the second parameter of subsequent time:
xt+Δt=xt+vcosθcosβΔt
yt+Δt=yt+vsinθcosβΔt
θt+Δt=θt+vsinβΔt/l
vt+Δt=vt+aΔt
βt+Δt=βt+ωΔt
Wherein, xtX coordinate, y for vehicle at current timetY-coordinate for vehicle at current time, θtWorking as vehicle
The direction at preceding moment, vtSpeed for vehicle at current time, βtFor vehicle current time steering wheel angle；xt+ΔtFor vehicle
X coordinate, y in subsequent timet+ΔtY-coordinate for vehicle in subsequent time, θt+ΔtFor vehicle subsequent time direction,
vt+ΔtSpeed for vehicle in subsequent time, βt+ΔtFor vehicle subsequent time steering wheel angle；L is vehicle wheelbase.
It is in one possible implementation, described that first track collection is handled according to the second list,
Treated the first track collection is generated, is specifically included:
According to the son circle that the circumference using first father circle is the center of circle to using the round circumference of the m father as the center of circle
First track is concentrated the track except the son circle to delete by the position in the center of circle and radius in son circle.
In one possible implementation, described by inspiring value function, to treated, first track is concentrated
Track evaluated, specifically include:
The inspiration value of every track is concentrated by the first track after f=g+h calculation processing；
When the inspiration value minimum of track, determine that the track is first object track；
Wherein, f is the inspiration value of every track, and g is from starting point to vehicle in the distance of the position where subsequent time；h
Including center of circle boot entry and terminal boot entry.
In one possible implementation, pass through formula h=lnext+l1+l2...ldistCalculate h；
Wherein, lnextFor center of circle boot entry, indicate vehicle in the position of subsequent time to the distance in the nearest center of circle, l1+
l2...ldistFor terminal boot entry, indicate apart from vehicle the nearest center of circle in the position of subsequent time to next circle center distance, under
Sum of the distance of one center of circle to lower the last one center of circle of circle center distance ... to terminal.
In one possible implementation, described when the round registration round with the terminal of the m father is greater than default
When first threshold, before generating first list and second list, the method also includes:
When the inspiration value of all son circles of a certain father circle is all equal, it is retracted into the upper level father circle of father circle, from described
Position and the radius in the center of circle of father circle are deleted in first list.
In one possible implementation, the kinetic model according to the preview distance and vehicle calculates pre-
The steering angle taken aim at a little specifically includes:
Utilize formulaCalculate steering angle；
Wherein, δ is steering angle, and L is the vehicle wheelbase in vehicle dynamic model, and l is vehicle rear axle away from L0To take aim in advance
Distance, η are vehicle relative to the angle for taking aim at a direction in advance.
In one possible implementation, formula is utilizedCalculate in advance take aim at away from
From；Wherein, v is the present speed of vehicle.
In one possible implementation, the present speed according to the pre- desired speed taken aim at a little and vehicle,
Vehicle is calculated to specifically include taking aim at acceleration a little in advance:
Utilize formulaCalculate vehicle acceleration；
Wherein, α is acceleration, and Ki and Kp are empirical, and ν is the present speed of vehicle.
Second aspect, the present invention provides a kind of controller of vehicle based on path planning, described device includes:
Acquiring unit, the acquiring unit are used to obtain the reference path of vehicle, and the reference path includes starting point and end
Point；
Setting unit, the setting unit is for taking First terminal point in the reference path；The First terminal point is located at
Between the beginning and end；
Judging unit, the judging unit is for judging using the distance between the starting point and the First terminal point as diameter
Whether there are obstacles in circle；
Determination unit, the determination unit are used for when there are the first barrier, determine the starting point and first barrier
Hinder the first distance of object；First barrier is barrier nearest apart from starting point in barrier；The first distance is institute
It states distance of the starting point apart from first barrier and subtracts difference from the safe distance of vehicle；
The setting unit is also used to, and using the starting point as the center of circle, using the first distance as radius, the first father is arranged
Circle；
The setting unit is also used to, using the First terminal point as the center of circle, using the first distance as radius, and setting first
Terminal circle；
The determination unit is also used to, and using the point on the circumference of first father circle as the center of circle, is determined more on the circumference
Each of a center of circle generates sub- distance set at a distance from away from nearest barrier；
Computing unit, the computing unit are used to calculate each of multiple centers of circle on the circumference and the First terminal point
Geometric distance, generate geometric distance collection；
The computing unit is also used to that it is corresponding to calculate multiple centers of circle according to the sub- distance set and the geometric distance collection
The inspiration value collection of son circle；It is described son circle radius be the center of circle subtracted with away from nearest barrier at a distance from from vehicle safely away from
It is poor from it；
The determination unit is also used to, and determining that the inspiration value concentrates the corresponding son circle of the smallest inspiration value is the second father
Circle；
Generation unit, the generation unit are used to be greater than when m father circle with the round registration of the First terminal point pre-
If when first threshold, generating first list and second list；The first list includes circle of the first father circle to m father's circle
Heart position and radius；It is the son circle in the center of circle to m father circle that the second list, which includes using the circumference of first father circle,
Circumference be the center of circle son circle in the center of circle position and radius；M is the integer greater than 2；
The acquiring unit is also used to, and at current time, obtains the first parameter of the vehicle；
The computing unit is also used to, and according to first parameter at the current time and the kinetic model of vehicle, is calculated
Second parameter of the vehicle in subsequent time；
The computing unit is also used to, and according to first parameter and second parameter, calculates the vehicle from current
Moment to subsequent time the first track collection；
Processing unit, the processing unit are used for according to the first list and the second list, to first rail
Mark collection is handled, and treated the first track collection is generated；
Evaluation unit, the evaluation unit are used for by inspiring value function, and to treated, first track is concentrated
It is evaluated track；
The determination unit is also used to, and according to evaluation result, from treated, first track, which is concentrated, determines the first mesh
Mark track；
The determination unit is also used to determine the position taken aim in advance a little on the first object track；The computing unit is also
For calculating preview distance according to the present speed of vehicle and the pre- position taken aim at a little；
The computing unit is also used to, and according to the kinetic model of the preview distance and vehicle, calculates turn taken aim in advance a little
To angle；
The computing unit is also used to, and according to the present speed of the pre- desired speed taken aim at a little and vehicle, calculates vehicle
Acceleration a little is being taken aim in advance；
Transmission unit, the transmission unit are used for the pre- steering angle and acceleration taken aim at a little of the first object track
It is sent to bottom controller, so that the bottom controller is according to the pre- steering angle and acceleration taken aim at a little, described pre-
It takes aim at and a little vehicle is controlled；
The processing unit is also used to the difference when the terminal of the n-th target trajectory and at a distance from the terminal and is less than default second
When threshold value, the first object track to the n-th target trajectory is handled, generates destination path；N is the integer greater than 2.
The third aspect, the present invention provides a kind of equipment, including memory and processor, the memory is for storing journey
Sequence, the processor are used to execute any method of first aspect.
Fourth aspect, the present invention provides a kind of computer program products comprising instruction, when the computer program produces
When product are run on computers, so that the computer executes the method as described in first aspect is any.
5th aspect, the present invention provides a kind of computer readable storage medium, on the computer readable storage medium
It is stored with computer program, the method as described in first aspect is any is realized when the computer program is executed by processor.
By applying the paths planning method and device provided by the invention based on closed-loop control, there is following technology effect
Fruit:
1, a series of exploration circles are generated, these circles are equivalent to a kind of quick space exploration, and taking can passage space.Benefit
Circle, the direction of guide and elicitation formula track search, so that the process of heuristic search not only considers barrier and end are explored with these
Point, it is also considered that space utilization rate greatly enhances the reasonability of vehicle planning path.
2, the process for generating path samples vehicle acceleration and steering wheel rotary speed, and generating path includes vehicle
Information such as coordinate, direction, speed, steering wheel angle, therefore the path generated is not only in coordinate, towards upper continuous, speed with
All be continuous on steering wheel angle so that the path generated is more reasonable, reduce unmanned vehicle control module control difficulty,
Improve real-time.
3, it is considered in path planning horizontal, longitudinally controlled, ensure that the real-time of planning, reduce bottom controller
Control difficulty.
Detailed description of the invention
Fig. 1 is the paths planning method flow diagram based on closed-loop control that the present invention implements that an example provides；
Fig. 2 is the space search schematic diagram that the embodiment of the present invention one provides；
Fig. 3 is the heuristic track search schematic diagram that the embodiment of the present invention one provides；
Fig. 4 is the schematic diagram for the control parameter that inventive embodiments one provide；
Fig. 5 is the path planning apparatus structural schematic diagram provided by Embodiment 2 of the present invention based on closed-loop control.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that for just
Part relevant to related invention is illustrated only in description, attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is the paths planning method flow diagram based on closed-loop control that the embodiment of the present invention one provides.This method
It applies in automatic Pilot field, the executing subject of this method is the calculation processing unit of vehicle, which can be with
It is control unit for vehicle, as shown in Figure 1, method includes the following steps:
Step 101, the reference path of vehicle is obtained, reference path includes beginning and end.
Wherein, reference path refers to the global path that vehicle is offline or plans in real time, which does not consider temporarily to go out on road
Existing barrier.Reference path is used to refer to the object of planning of guiding path planning algorithm, and guarantee vehicle is while hiding obstacle, energy
Enough return to set road.
Reference path can be got by the following method, firstly, receiving the starting point and stroke for the stroke that server is sent
Terminal；Then, according to the terminal of the starting point of stroke and stroke, transfer environment map file；Finally, according to the starting point of stroke,
The terminal and environmental map file of stroke generate reference path.
Wherein, server can receive the beginning or end of the stroke of user terminal transmission, and environmental map file can be
In the server, for example, vehicle will include that request message from vehicle current location is sent to server, server is according to oneself for storage
Vehicle current location will include being sent to vehicle from the environmental map file of vehicle current location, beginning and end.It is also possible to vehicle
In be stored with environmental map file.
Vehicle gets the beginning and end of stroke from server, then, according to environmental map file, carries out path rule
It draws, generates reference path.
Wherein, before step 101, it needs to obtain obstacle information and vehicle dynamic model.
Obstacle information, will mainly by obtaining Obstacle Position, velocity information from upstream node (such as perceive, predict)
These information unifications storage and according to away from being ranked up from the relative distance size of vehicle.
Vehicle dynamic model mainly include the length and width of vehicle, vehicle wheelbase, minimum turning radius, the limit acceleration,
The intrinsic parameter such as safe distance, generally defines in configuration file.
Step 102, First terminal point is taken in reference path；First terminal point is between beginning and end.
Specifically, the length due to reference path is generally longer, in order to improve processing speed, reference path can be carried out
It divides, for example, taking in reference path a bit, which is known as First terminal point, for another example, with the starting point of reference path for one
Point does circle by diameter of D, and the intersection point of the circle and reference path is properly termed as First terminal point.D is preset length.
Step 103, judge using the distance between starting point and First terminal point as whether there are obstacles in the circle of diameter.
Specifically, due to having got obstacle information before step 101, and also to the position of barrier
It is sorted, it is therefore, being sorted according to barrier as a result, judging the circle with starting point and First terminal point as the two o'clock on circle
It is interior, if there are barriers.
When barrier is not present, continue to judge with First terminal point as a bit on circle, is another on circle with the second terminal
In the circle of a bit, if there are barriers.
Wherein, the second terminal can be determined according to the determination method of above-mentioned First terminal point.
Step 104, when there are the first barrier, the first distance of starting point Yu the first barrier is determined；First barrier
For barrier nearest apart from starting point in barrier；First distance is that the distance of the first barrier of starting point distance subtracts the peace from vehicle
The difference of full distance.
Specifically, having included the safe distance from vehicle in vehicle dynamic model.When with starting point and First terminal point
In circle for the two o'clock on circle, when searching multiple barriers, using the barrier nearest apart from starting point as the first barrier, and
According to the position of the position of first barrier and starting point, zequin is at a distance from the first barrier.
Then, first distance can be calculated according to starting point at a distance from the first barrier.
Wherein it is possible to pass through formula R=Lobs-dsafetyLobsFirst distance is calculated, wherein R is first distance, LobsTo rise
Point is at a distance from the first barrier, dsafetyFor the safe distance of vehicle.
Step 105, using starting point as the center of circle, using first distance as radius, setting the first father circle.
Step 106, using First terminal point as the center of circle, using first distance as radius, setting First terminal point circle.
Specifically, referring to fig. 2, using starting point as the center of circle, using first distance as radius, the first father circle is generated, it is most left referring to fig. 2
The dark circle on side, using first distance as radius, generates terminal circle, referring to fig. 2 the dark color of rightmost using First terminal point as the center of circle
Circle.
Step 107, using the first father circle circumference on point as the center of circle, determine each of multiple centers of circle on the circumference with
Distance away from nearest barrier generates sub- distance set.
Specifically, using the point on circumference as the center of circle, barrier is searched for, for example, in the first father on the circumference of the first father circle
On round circumference, the position in the center of circle is respectively to search barrier at R1, R2 and R3, and position is respectively A1, A2 and A3, is calculated
R1 at a distance from A1, R2 and A2, R3 and A3, the sub- distance set of generation be | R1-A1 |, | R2-A2 |, | R3-A3 | }.
Certainly, location information herein can be latitude and longitude information, in order to make it easy to understand, only carry out to sub- distance set herein
It is simply illustrative.Its specific calculating process is not refined.
Step 108, calculate the geometric distance in each of multiple centers of circle on the circumference Yu First terminal point, generate geometry away from
From collection.
Wherein, geometric distance includes but is not limited to Euler's distance, manhatton distance and Du Bin distance.
Calculating for specific every kind of geometric distance, belongs to the prior art, the application no longer illustrates this.
Step 109, according to sub- distance set and geometric distance collection, the inspiration value collection of the corresponding son circle in multiple centers of circle is calculated；Son
Round radius is for the center of circle and away from the difference subtracted at a distance from nearest barrier from the safe distance of vehicle.
Specifically, passing through formula f=dend- R calculates the inspiration value of the corresponding son circle in multiple centers of circle；
Wherein, dendFor the geometric distance in the center of circle to First terminal point, R is the radius of son circle.
Step 110, determining that inspiration value concentrates the corresponding son circle of the smallest inspiration value is the second father circle.
Specifically, passing through above-mentioned calculating, it is assumed that during the corresponding son of R1, R2, R3 is justified, the inspiration value of R2 is minimum, then can incite somebody to action
R2 is as the second father circle.
Then, step 107 can be repeated to 110, until searching m father's circle.Wherein, m is the integer greater than 2.
Step 111, when the round registration with First terminal point circle of m father is greater than preset first threshold value, first list is generated
And second list；First list includes center location and radius of the first father circle to m father's circle；Second list includes with the first father
Round circumference is the son circle in the center of circle to using the circumference of m father's circle as the position in the center of circle in the son circle in the center of circle and radius.
Specifically, registration herein, can be two round overlapping areas.When the round weight with First terminal point circle of m father
When closing area greater than preset first threshold, it can determine that the search from starting point to First terminal point terminates.
Then, step 102 can be continued to execute to step 111, until having searched for reference path.The process is properly termed as sky
Between explore.
Step 112, at current time, the first parameter of vehicle is obtained.
Specifically, in vehicle, currently maximum steering wheel angle and maximum are travelled in acceleration range, and sampling obtains current
Steering wheel angle and acceleration under state.That is the hereafter speed (being obtained by acceleration calculation) and steering wheel in the first parameter
Corner.
Wherein, the first parameter includes vehicle in the x coordinate at current time, y-coordinate, direction, speed, steering wheel angle.The
Two parameters include vehicle in the x coordinate of subsequent time, y-coordinate, direction, speed, steering wheel angle.
Step 113, according to first parameter and vehicle dynamic model at current time, vehicle is calculated the of subsequent time
Two parameters.
Wherein, step 113 specifically includes: vehicle is calculated by the following formula in the second parameter of subsequent time:
xt+Δt=xt+vcosθcosβΔt
yt+Δt=yt+vsinθcosβΔt
θt+Δt=θt+vsinβΔt/l
vt+Δt=vt+aΔt
βt+Δt=βt+ωΔt
Wherein, xtX coordinate, y for vehicle at current timetY-coordinate for vehicle at current time, θtWorking as vehicle
The direction at preceding moment, vtSpeed for vehicle at current time, βtFor vehicle current time steering wheel angle；xt+ΔtFor vehicle
X coordinate, y in subsequent timet+ΔtY-coordinate for vehicle in subsequent time, θt+ΔtFor vehicle subsequent time direction,
vt+ΔtSpeed for vehicle in subsequent time, βt+ΔtIt is vehicle in the steering wheel angle of subsequent time, l is vehicle wheelbase.Wherein,
Vehicle wheelbase belongs to one of parameter in vehicle dynamic model, is to consider vehicle when calculating the parameter of subsequent time therefore
Kinetic parameters, therefore be also to meet dynamics of vehicle constraint.
Step 114, according to the first parameter and the second parameter, first track of the vehicle from current time to subsequent time is calculated
Collection.
Specifically, can calculate track of the vehicle from current time to subsequent time by model, obtain the first track
Collection, it is round (wherein when the from first from left to right circle is the first father circle, second circle is the first father circle son in Fig. 3 referring to Fig. 3
When the inspiration value minimum of the son circle of one father circle, be known as the second father circle) third circle be the second father circle son it is round (wherein when second
When the inspiration value minimum of the son circle of father's circle, it is known as third father circle), include in the first track collection at current time to subsequent time
Dotted line 11, dotted line 12, dotted line 13, solid line 14, dotted line 15.
It include dotted line in subsequent time to the second track collection between lower subsequent time when vehicle driving to subsequent time
21, dotted line 22, solid line 23, dotted line 24, dotted line 25.Wherein, subsequent time to lower subsequent time the second track collection determination side
Method, identical as the method for the first track collection of current time to subsequent time of calculating, details are not described herein again.
Step 115, according to first list and second list, the first track collection is handled, generates that treated first
Track collection.
Specifically, position and radius according to the first father circle to m father's circle, and using the circumference of the first father circle as the center of circle
Son circle concentrates the first track in sub- circle to using the circumference of m father's circle as the position in the center of circle in the son circle in the center of circle and radius
It deletes outer track.
With continued reference to Fig. 3, in Fig. 3, from from left to right, in the dotted line and solid line between first circle, second circle, 11 He of dotted line
15 have exceeded first circle and second round range, therefore, delete the first track is concentrated 11 and 15, treated the first rail
It includes dotted line 12, dotted line 13, solid line 14 that mark, which is concentrated,.
Second track is concentrated, the range that dotted line 24 and dotted line 25 have exceeded second circle and third is justified, therefore, deletion the
The 24 and 25 of two tracks concentration, treated, and the second track collection includes 21,22 and 23.
Step 116, by inspiring value function, the track concentrated to treated the first track is evaluated.
Step 117, according to evaluation result, from treated, determining first object track is concentrated in the first track.
Specifically, concentrating the inspiration value of every track by the first track after f=g+h calculation processing；
When the inspiration value minimum of track, determine that the track is first object track.
Wherein, f is the inspiration value of every track, and g is from starting point to vehicle in the distance of the position where subsequent time；h
Including center of circle boot entry and terminal boot entry；
Pass through formula h=lnext+l1+l2...ldistCalculate h；
Wherein, lnextFor center of circle boot entry, indicate vehicle in the position of subsequent time to the distance in the nearest center of circle, l1+
l2...ldistFor terminal boot entry, indicate apart from vehicle the nearest center of circle in the position of subsequent time to next circle center distance, under
Sum of the distance of one center of circle to lower the last one center of circle of circle center distance ... to terminal.
Wherein, after calculating first object track, continue using subsequent time as the time started, following subsequent time is made
For the end time, step 112 is repeated to step 117, determines the second target trajectory.The process is properly termed as heuristic track and searches
Rope.
For example, calculating the first track concentration, 14 inspiration value is minimum, and the second track is concentrated, 23 inspiration in Fig. 3
Value is minimum, hence, it can be determined that 14 be first object track, 23 be the second target trajectory.
Step 118, the position taken aim in advance a little is determined on first object track.
Specifically, lower layer's control difficulty is required and reduces in order to guarantee that track meets control, it can be by calculating pre- take aim at
The steering angle and acceleration of point, to realize the control to vehicle.
Wherein, taking aim in advance a little is exactly that controller is presently believed to need to track the position reached, and preview distance is exactly that vehicle is current
Distance takes aim at distance a little in advance.Preview distance is mainly to guarantee in control to the robustness of track following, prevent tracking effect by
It is shaken in local path.
Step 119, position a little is taken aim at according to the present speed of vehicle and in advance, calculates preview distance.
Wherein it is possible to according toCalculate preview distance；Wherein, v is working as vehicle
Preceding speed.
Specifically, in destination path, including multiple waypoints, each waypoint include the desired speed of the waypoint.
Fig. 4 is the schematic diagram for the control parameter that inventive embodiments one provide, referring to fig. 4, it can be seen that preview distance L0。
Step 120, according to the kinetic model of preview distance and vehicle, the steering angle taken aim in advance a little is calculated.
Specifically, utilizing formulaCalculate steering angle；
Wherein, δ is steering angle, and L is the vehicle wheelbase in vehicle dynamic model, and l is vehicle rear axle away from that is, vehicle turns
Distance of the curved central point away from rear shaft center's point, L0For preview distance, η is vehicle relative to the angle for taking aim at a direction in advance.It is illustrated
Figure is referring to fig. 4.By the steering angle, it can guarantee the crosswise joint precision of planning path.
Step 121, it according to the present speed for taking aim at desired speed and vehicle a little in advance, calculates vehicle and is taking aim at acceleration a little in advance
Degree.
Specifically, the pre- desired speed taken aim at a little on first object track has been wrapped when cooking up first object track
Containing on it.
It can use formulaIt calculates vehicle and is taking aim at acceleration a little in advance；
Wherein, α is acceleration, and Ki and Kp are ratio, integration control amount, is empirical, is combined according to debugging effect
Empirical value setting；ν is the present speed of vehicle.By the acceleration, the longitudinal velocity control precision of planning path can guarantee.
It is understood that Ki and Kp herein is also possible to other control methods, example and it is non-limiting, can be ratio
The control modes such as control, proportion differential.
Step 122, the pre- steering angle taken aim at a little and acceleration of the first object track are sent to bottom controller,
So that the bottom controller a little controls vehicle in pre- take aim at according to the pre- steering angle and acceleration taken aim at a little
System.
Specifically, path planning and control be it is distinct, path planning is carried out by control unit for vehicle, control
It is to be carried out by bottom controller.Path planning only exports the track comprising desired speed, and how pursuit path is completely by controlling
Module determines.The application gives " recommendation " i.e. acceleration a and the steering angle of bottom output control amount, for bottom control
Device reference, it can be considered that improving the control precision of bottom controller.
Step 112 is continued to execute to step 122, so as to calculate the pre- steering taken aim at a little on each target trajectory
Angle and acceleration, then by each target trajectory the pre- steering angle taken aim at a little and acceleration be sent to bottom control
Device, to improve the control precision of bottom controller.
Step 123, when the difference at a distance from the terminal of the n-th target trajectory and terminal is less than default second threshold, by first
Target trajectory to the n-th target trajectory is handled, and destination path is generated.
Continue by taking Fig. 3 as an example, in Fig. 3, by calculating, determining first object track is 14, and the second target trajectory is
23, by 14 and 23 splicings, if subsequent there are other n-th target trajectories, continue to splice, obtain target trajectory.Wherein, n is big
In 2 integer.
Specifically, step 118 includes: to splice first object track to the n-th target trajectory, original object road is generated
Diameter；
When original object path is unsatisfactory for vehicle kinematics constraint, it is smoothed, generates destination path.
Wherein, in vehicle dynamic model, including minimum turning radius, when multiple target trajectories are spliced, meter
The curvature for calculating stitching portion, the inverse of curvature and the minimum turning radius of vehicle is compared, when curvature is no more than minimum turning
When the inverse of radius, which meets the requirements, and when curvature is greater than the inverse of minimum turning radius, is smoothed.Example
And it is non-limiting, it can be smoothed according to the mode of mean filter.
Further, before step 111 further include:
When the inspiration value of all son circles of a certain father circle is all equal, it is retracted into the upper level father circle of father circle, from first
Position and the radius in the center of circle of father circle are deleted in list.
As a result, by applying the paths planning method provided by the invention based on closed-loop control, with following advantage:
1, a series of exploration circles are generated, these circles are equivalent to a kind of quick space exploration, and taking can passage space.Benefit
Circle, the direction of guide and elicitation formula track search, so that the process of heuristic search not only considers barrier and end are explored with these
Point, it is also considered that space utilization rate greatly enhances the reasonability of vehicle planning path.
2, the process for generating path samples vehicle acceleration and steering wheel rotary speed, and generating path includes vehicle
Information such as coordinate, direction, speed, steering wheel angle, therefore the path generated is not only in coordinate, towards upper continuous, speed with
All be continuous on steering wheel angle so that the path generated is more reasonable, reduce unmanned vehicle control module control difficulty,
Improve real-time.
3, it is considered in path planning horizontal, longitudinally controlled, reduces the control difficulty of bottom controller.
Second embodiment of the present invention provides a kind of path planning apparatus based on closed-loop control.Fig. 5 is the embodiment of the present invention
The two path planning apparatus structural schematic diagrams based on closed-loop control provided.As shown in figure 5, the path planning apparatus includes: to obtain
Take unit 501, setting unit 502, judging unit 503, determination unit 504, computing unit 505, generation unit 506, processing single
Member 507, evaluation unit 508 and transmission unit 509.
Acquiring unit 501 is used to obtain the reference path of vehicle, and reference path includes beginning and end；
Setting unit 502 in reference path for taking First terminal point；First terminal point is between beginning and end；
Judging unit 503 is for judging using the distance between starting point and First terminal point to whether there is obstacle in the circle of diameter
Object；
Determination unit 504 is used for when there are the first barrier, determines the first distance of starting point Yu the first barrier；First
Barrier is barrier nearest apart from starting point in barrier；First distance is that the distance of the first barrier of starting point distance subtracts certainly
The difference of the safe distance of vehicle；
Setting unit 502 is also used to, using starting point as the center of circle, using first distance as radius, and setting the first father circle；
Setting unit 502 is also used to, using First terminal point as the center of circle, using first distance as radius, and setting First terminal point circle；
Determination unit 504 is also used to, and using the point on the circumference of the first father circle as the center of circle, determines multiple centers of circle on the circumference
Each of at a distance from away from nearest barrier, generate sub- distance set；
Computing unit 505 is used to calculate geometric distance of each of the multiple centers of circle on the circumference with First terminal point, raw
At geometric distance collection；
Computing unit 505 is also used to calculate opening for the corresponding son circle in multiple centers of circle according to sub- distance set and geometric distance collection
Hair value collection；The radius of son circle is for the center of circle and away from the difference subtracted at a distance from nearest barrier from the safe distance of vehicle；
Determination unit 504 is also used to, and determining that inspiration value concentrates the corresponding son circle of the smallest inspiration value is the second father circle；
Generation unit 506 is used for when the round registration with First terminal point circle of m father is greater than preset first threshold value, generates the
One list and second list；First list includes center location and radius of the first father circle to m father's circle；Second list include with
The circumference of first father circle is the son circle in the center of circle to using the circumference of m father's circle as the position in the center of circle in the son circle in the center of circle and radius；M is
Integer greater than 2；
Acquiring unit 501 is also used to, and at current time, obtains vehicle in the first parameter of starting point；
Computing unit 505 is also used to, and according to first parameter at current time and the kinetic model of vehicle, is calculated vehicle and is existed
Second parameter of subsequent time；
Computing unit 505 is also used to, and according to the first parameter and the second parameter, calculates vehicle from current time to subsequent time
The first track collection；
Processing unit 507 is used to handle the first track collection according to first list and second list, after generation processing
The first track collection；
Evaluation unit 508 is used for by inspiring value function, and the track concentrated to treated the first track is evaluated；
Determination unit 504 is also used to, and according to evaluation result, from treated, determining first object rail is concentrated in the first track
Mark；
Determination unit is also used to determine the position taken aim in advance a little on first object track；
Computing unit 505 is also used to, and takes aim at position a little according to the present speed of vehicle and in advance, calculates preview distance；
Computing unit 505 is also used to, and according to the kinetic model of preview distance and vehicle, calculates the steering angle taken aim in advance a little
Degree；
Computing unit 505 is also used to, according to the present speed of the desired speed of the waypoint on first object track and vehicle,
It calculates vehicle and is taking aim at acceleration a little in advance；
Transmission unit 509 will be for that will be sent to bottom for the pre- steering angle taken aim at a little and acceleration of the first object track
Layer controller pre- is taken aim at a little to vehicle described so that the bottom controller is according to the pre- steering angle and acceleration taken aim at a little
It is controlled.
Processing unit 507 is also used to, and the difference at a distance from the terminal and terminal of the n-th target trajectory is less than default second threshold
When, first object track to the n-th target trajectory is handled, destination path is generated；N is the integer greater than 2.
The description of concrete function with above-described embodiment one of each module is identical in Fig. 5, and details are not described herein again.It is understood that
, the technical effect of the embodiment two is also identical with above-described embodiment one, and details are not described herein again.
The embodiment of the present invention three provides a kind of equipment, including memory and processor, and memory is deposited for storing program
Reservoir can be connect by bus with processor.Memory can be nonvolatile storage, such as hard disk drive and flash memory, storage
Software program and device driver are stored in device.Software program is able to carry out the above method provided in an embodiment of the present invention
Various functions；Device driver can be network and interface drive program.Processor is for executing software program, the software journey
Sequence is performed, the method that can be realized the offer of the embodiment of the present invention one.
The embodiment of the present invention four provides a kind of computer program product comprising instruction, when computer program product is being counted
When being run on calculation machine, so that computer executes the method that the embodiment of the present invention one provides.
The embodiment of the present invention five provides a kind of computer readable storage medium, is stored on computer readable storage medium
Computer program realizes the method that the embodiment of the present invention one provides when computer program is executed by processor.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above specific embodiment has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (10)
1. a kind of paths planning method based on closed-loop control, which is characterized in that the described method includes:
The reference path of vehicle is obtained, the reference path includes beginning and end；
First terminal point is taken in the reference path；The First terminal point is between the beginning and end；
Judge using the distance between the starting point and the First terminal point as whether there are obstacles in the circle of diameter；
When there are the first barrier, the first distance of the starting point Yu first barrier is determined；First barrier
For barrier nearest apart from starting point in barrier；The first distance is distance of the starting point apart from first barrier
Subtract the difference from the safe distance of vehicle；
Using the starting point as the center of circle, using the first distance as radius, setting the first father circle；
Using the First terminal point as the center of circle, using the first distance as radius, setting First terminal point circle；
Using first father circle circumference on point as the center of circle, determine each of multiple centers of circle on the circumference with apart from it most
The distance of close barrier generates sub- distance set；
The geometric distance in each of multiple centers of circle on the circumference Yu the First terminal point is calculated, geometric distance collection is generated；
According to the sub- distance set and the geometric distance collection, the inspiration value collection of the corresponding son circle in multiple centers of circle is calculated；The son
Round radius is for the center of circle and away from the difference subtracted at a distance from nearest barrier from the safe distance of vehicle；
Determining that the inspiration value concentrates the corresponding son circle of the smallest inspiration value is the second father circle；
When the round registration with First terminal point circle of the m father is greater than preset first threshold value, first list and the are generated
Two lists；The first list includes center location and radius of the first father circle to m father's circle；The second list includes
It is the son circle in the center of circle to using the circumference of m father circle as the position in the center of circle in the son circle in the center of circle using the circumference of first father circle
And radius；M is the integer greater than 2；
At current time, the first parameter of the vehicle is obtained；
According to first parameter at the current time and the kinetic model of vehicle, vehicle is calculated in the second ginseng of subsequent time
Number；
According to first parameter and second parameter, first track of the vehicle from current time to subsequent time is calculated
Collection；
According to the first list and the second list, first track collection is handled, generates that treated first
Track collection；
By inspiring value function, the track that first track is concentrated to treated is evaluated；
According to evaluation result, from treated, first track, which is concentrated, determines first object track；
The position taken aim in advance a little is determined on the first object track；
According to the present speed of vehicle and the pre- position taken aim at a little, preview distance is calculated；
According to the kinetic model of the preview distance and vehicle, the steering angle taken aim in advance a little is calculated；
According to the present speed of the pre- desired speed taken aim at a little and vehicle, calculates vehicle and taking aim at acceleration a little in advance；
The pre- steering angle taken aim at a little and acceleration of the first object track are sent to bottom controller, so that the bottom
Controller a little controls vehicle in pre- take aim at according to the pre- steering angle and acceleration taken aim at a little；
When difference at a distance from the terminal of the n-th target trajectory and the terminal is less than default second threshold, by the first object
Track to the n-th target trajectory is handled, and destination path is generated；N is the integer greater than 2.
2. the method according to claim 1, wherein first parameter includes that x of the vehicle at current time is sat
Mark, y-coordinate, direction, speed, steering wheel angle, it is described according to first parameter at the current time and the kinetic simulation of vehicle
Type calculates vehicle in the second parameter of subsequent time, specifically includes:
Vehicle is calculated by the following formula in the second parameter of subsequent time:
xt+Δt=xt+vcosθcosβΔt
yt+Δt=yt+vsinθcosβΔt
θt+Δt=θt+vsinβΔt/l
vt+Δt=vt+aΔt
βt+Δt=βt+ωΔt
Wherein, xtX coordinate, y for vehicle at current timetY-coordinate for vehicle at current time, θtIt is vehicle when current
The direction at quarter, vtSpeed for vehicle at current time, βtFor vehicle current time steering wheel angle；xt+ΔtExist for vehicle
X coordinate, the y of subsequent timet+ΔtY-coordinate for vehicle in subsequent time, θt+ΔtDirection for vehicle in subsequent time, vt+ΔtFor
Speed of the vehicle in subsequent time, βt+ΔtFor vehicle subsequent time steering wheel angle；L is vehicle wheelbase.
3. the method according to claim 1, wherein described according to the second list, to first track
Collection is handled, and is generated treated the first track collection, is specifically included:
According to the son circle that the circumference using first father circle is the center of circle to using the round circumference of the m father as the son circle in the center of circle
First track is concentrated the track except the son circle to delete by the position in the middle center of circle and radius.
4. the method according to claim 1, wherein described by inspiring value function, described the to treated
The track that one track is concentrated is evaluated, and is specifically included:
The inspiration value of every track is concentrated by the first track after f=g+h calculation processing；
When the inspiration value minimum of track, determine that the track is first object track；
Wherein, f is the inspiration value of every track, and g is from starting point to vehicle in the distance of the position where subsequent time；H includes
Center of circle boot entry and terminal boot entry.
5. according to the method described in claim 4, it is characterized in that, passing through formula h=lnext+l1+l2...ldistCalculate h；
Wherein, lnextFor center of circle boot entry, indicate vehicle in the position of subsequent time to the distance in the nearest center of circle, l1+l2...ldist
For terminal boot entry, expression is arrived apart from vehicle in the nearest center of circle in the position of subsequent time to next circle center distance, next center of circle
Sum of the distance of the last one center of circle of lower circle center distance ... to terminal.
6. the method according to claim 1, wherein described be overlapped when the m father justifies with what the terminal was justified
When degree is greater than preset first threshold value, before generating first list and second list, the method also includes:
When the inspiration value of all son circles of a certain father circle is all equal, it is retracted into the upper level father circle of father circle, from described first
Position and the radius in the center of circle of father circle are deleted in list.
7. the method according to claim 1, wherein the kinetic simulation according to the preview distance and vehicle
Type calculates the steering angle taken aim at a little in advance and specifically includes:
Utilize formulaCalculate steering angle；
Wherein, δ is steering angle, and L is the vehicle wheelbase in vehicle dynamic model, and l is vehicle rear axle away from L0For preview distance,
η is vehicle relative to the angle for taking aim at a direction in advance.
8. the method according to the description of claim 7 is characterized in that utilizing formula
Calculate preview distance；Wherein, v is the present speed of vehicle.
9. the method according to claim 1, wherein described according to the pre- desired speed taken aim at a little and vehicle
Present speed calculates vehicle and specifically includes taking aim at acceleration a little in advance:
Utilize formulaCalculate vehicle acceleration；
Wherein, α is acceleration, and Ki and Kp are empirical, and ν is the present speed of vehicle.
10. a kind of path planning apparatus based on closed-loop control, which is characterized in that described device includes:
Acquiring unit, the acquiring unit are used to obtain the reference path of vehicle, and the reference path includes beginning and end；
Setting unit, the setting unit is for taking First terminal point in the reference path；The First terminal point is located at described
Between beginning and end；
Judging unit, the judging unit is for judging using the distance between the starting point and the First terminal point as in the circle of diameter
Whether there are obstacles；
Determination unit, the determination unit are used for when there are the first barrier, determine the starting point and first barrier
First distance；First barrier is barrier nearest apart from starting point in barrier；The first distance is described rises
Distance of the point apart from first barrier subtracts the difference from the safe distance of vehicle；
The setting unit is also used to, using the starting point as the center of circle, using the first distance as radius, and setting the first father circle；
The setting unit is also used to, and using the First terminal point as the center of circle, using the first distance as radius, First terminal point is arranged
Circle；
The determination unit is also used to, and using the point on the circumference of first father circle as the center of circle, determines multiple circles on the circumference
Each of in the heart at a distance from away from nearest barrier, sub- distance set is generated；
Computing unit, it is several with the First terminal point that the computing unit is used to calculate each of multiple centers of circle on the circumference
What distance generates geometric distance collection；
The computing unit is also used to calculate the corresponding son circle in multiple centers of circle according to the sub- distance set and the geometric distance collection
Inspiration value collection；The radius of the son circle be the center of circle subtracted at a distance from away from nearest barrier from the safe distance of vehicle it
Difference；
The determination unit is also used to, and determining that the inspiration value concentrates the corresponding son circle of the smallest inspiration value is the second father circle；
Generation unit, the generation unit are used to be greater than default the when the round registration with First terminal point circle of the m father
When one threshold value, first list and second list are generated；The first list includes the first father circle center of circle position round to m father
It sets and radius；It is the son circle in the center of circle to the circle of m father circle that the second list, which includes using the circumference of first father circle,
Week is the position in the center of circle and radius in the son circle in the center of circle；M is the integer greater than 2；
The acquiring unit is also used to, and at current time, obtains the first parameter of the vehicle；
The computing unit is also used to, and according to first parameter at the current time and the kinetic model of vehicle, calculates vehicle
In the second parameter of subsequent time；
The computing unit is also used to, and according to first parameter and second parameter, calculates the vehicle from current time
To the first track collection of subsequent time；
Processing unit, the processing unit are used for according to the first list and the second list, to first track collection
It is handled, generates treated the first track collection；
Evaluation unit, the evaluation unit are used for by inspiring value function, the track that first track is concentrated to treated
It is evaluated；
The determination unit is also used to, and according to evaluation result, from treated, first track, which is concentrated, determines first object rail
Mark；
The determination unit is also used to determine the position taken aim in advance a little on the first object track；The computing unit is also used
According to the present speed of vehicle and the pre- position taken aim at a little, calculating preview distance；
The computing unit is also used to, and according to the kinetic model of the preview distance and vehicle, calculates the steering angle taken aim in advance a little
Degree；
The computing unit is also used to, and according to the present speed of the pre- desired speed taken aim at a little and vehicle, calculates vehicle pre-
Take aim at acceleration a little；
Transmission unit, the transmission unit are used to send the pre- steering angle taken aim at a little and acceleration of the first object track
To bottom controller, so that the bottom controller is according to the pre- steering angle and acceleration taken aim at a little, pre- taken aim at a little described
Vehicle is controlled；
The processing unit is also used to the difference when the terminal of the n-th target trajectory and at a distance from the terminal and is less than default second threshold
When, the first object track to the n-th target trajectory is handled, destination path is generated；N is the integer greater than 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910201621.9A CN109900289B (en) | 2019-03-18 | 2019-03-18 | Path planning method and device based on closed-loop control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910201621.9A CN109900289B (en) | 2019-03-18 | 2019-03-18 | Path planning method and device based on closed-loop control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109900289A true CN109900289A (en) | 2019-06-18 |
| CN109900289B CN109900289B (en) | 2023-02-10 |
Family
ID=66952681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910201621.9A Active CN109900289B (en) | 2019-03-18 | 2019-03-18 | Path planning method and device based on closed-loop control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109900289B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112880700A (en) * | 2021-02-26 | 2021-06-01 | 重庆智行者信息科技有限公司 | Local path planning method and device for pivot steering vehicle |
| CN113009918A (en) * | 2021-03-09 | 2021-06-22 | 京东鲲鹏(江苏)科技有限公司 | Path planning method, device and system and readable storage medium |
| CN113034504A (en) * | 2021-04-25 | 2021-06-25 | 重庆大学 | Plane feature fusion method in SLAM mapping process |
| CN113805578A (en) * | 2021-02-25 | 2021-12-17 | 京东鲲鹏(江苏)科技有限公司 | Unmanned vehicle path optimization method and related equipment |
| CN114184203A (en) * | 2021-11-08 | 2022-03-15 | 重庆兰德适普信息科技有限公司 | Path planning method, electronic equipment and mobile device |
| CN114265412A (en) * | 2021-12-29 | 2022-04-01 | 深圳创维数字技术有限公司 | Vehicle control method, device, equipment and computer readable storage medium |
| CN114536328A (en) * | 2022-01-26 | 2022-05-27 | 中国科学院合肥物质科学研究院 | Mechanical arm motion planning method based on improved RRT algorithm |
| CN114924575A (en) * | 2022-07-21 | 2022-08-19 | 北京建筑大学 | Mobile robot path planning method and device, electronic equipment and storage medium |
| CN117311369A (en) * | 2023-11-29 | 2023-12-29 | 江苏伊凡诺尔智能科技有限公司 | Multi-scene intelligent robot inspection method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101358855A (en) * | 2008-09-23 | 2009-02-04 | 光庭导航数据（武汉）有限公司 | Navigation head based on layering bidirectional heuristic route planning method |
| CN105717929A (en) * | 2016-04-29 | 2016-06-29 | 中国人民解放军国防科学技术大学 | Planning method for mixed path of mobile robot under multi-resolution barrier environment |
| CN106275066A (en) * | 2016-08-30 | 2017-01-04 | 北京智行者科技有限公司 | The rotating direction control method of a kind of intelligent vehicle and device |
| CN106970648A (en) * | 2017-04-19 | 2017-07-21 | 北京航空航天大学 | Unmanned plane multi-goal path plans combined method for searching under the environment of city low latitude |
| US20180186373A1 (en) * | 2016-12-30 | 2018-07-05 | Neusoft Corporation | Method, device and apparatus for planning vehicle speed |
| WO2018227387A1 (en) * | 2017-06-13 | 2018-12-20 | Beijing Didi Infinity Technology And Development Co., Ltd. | Methods and systems for route planning |
| CN109269518A (en) * | 2018-08-31 | 2019-01-25 | 北京航空航天大学 | A kind of movable fixture confined space path generating method based on intelligent body |
-
2019
- 2019-03-18 CN CN201910201621.9A patent/CN109900289B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101358855A (en) * | 2008-09-23 | 2009-02-04 | 光庭导航数据（武汉）有限公司 | Navigation head based on layering bidirectional heuristic route planning method |
| CN105717929A (en) * | 2016-04-29 | 2016-06-29 | 中国人民解放军国防科学技术大学 | Planning method for mixed path of mobile robot under multi-resolution barrier environment |
| CN106275066A (en) * | 2016-08-30 | 2017-01-04 | 北京智行者科技有限公司 | The rotating direction control method of a kind of intelligent vehicle and device |
| US20180186373A1 (en) * | 2016-12-30 | 2018-07-05 | Neusoft Corporation | Method, device and apparatus for planning vehicle speed |
| CN106970648A (en) * | 2017-04-19 | 2017-07-21 | 北京航空航天大学 | Unmanned plane multi-goal path plans combined method for searching under the environment of city low latitude |
| WO2018227387A1 (en) * | 2017-06-13 | 2018-12-20 | Beijing Didi Infinity Technology And Development Co., Ltd. | Methods and systems for route planning |
| CN109269518A (en) * | 2018-08-31 | 2019-01-25 | 北京航空航天大学 | A kind of movable fixture confined space path generating method based on intelligent body |
Non-Patent Citations (1)
| Title |
|---|
| 樊祥阔等: "局部网格生成中初始探索圆半径的搜索算法", 《计算力学学报》 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113805578A (en) * | 2021-02-25 | 2021-12-17 | 京东鲲鹏(江苏)科技有限公司 | Unmanned vehicle path optimization method and related equipment |
| CN112880700B (en) * | 2021-02-26 | 2024-04-16 | 北京智行者科技股份有限公司 | Local path planning method and device for in-situ steering vehicle |
| CN112880700A (en) * | 2021-02-26 | 2021-06-01 | 重庆智行者信息科技有限公司 | Local path planning method and device for pivot steering vehicle |
| CN113009918A (en) * | 2021-03-09 | 2021-06-22 | 京东鲲鹏(江苏)科技有限公司 | Path planning method, device and system and readable storage medium |
| CN113009918B (en) * | 2021-03-09 | 2023-12-05 | 京东鲲鹏(江苏)科技有限公司 | Path planning method, device, system and readable storage medium |
| CN113034504B (en) * | 2021-04-25 | 2022-06-03 | 重庆大学 | Plane feature fusion method in SLAM mapping process |
| CN113034504A (en) * | 2021-04-25 | 2021-06-25 | 重庆大学 | Plane feature fusion method in SLAM mapping process |
| CN114184203B (en) * | 2021-11-08 | 2023-12-19 | 重庆兰德适普信息科技有限公司 | Path planning method, electronic equipment and mobile device |
| CN114184203A (en) * | 2021-11-08 | 2022-03-15 | 重庆兰德适普信息科技有限公司 | Path planning method, electronic equipment and mobile device |
| CN114265412B (en) * | 2021-12-29 | 2023-10-24 | 深圳创维数字技术有限公司 | Vehicle control method, device, equipment and computer readable storage medium |
| CN114265412A (en) * | 2021-12-29 | 2022-04-01 | 深圳创维数字技术有限公司 | Vehicle control method, device, equipment and computer readable storage medium |
| CN114536328A (en) * | 2022-01-26 | 2022-05-27 | 中国科学院合肥物质科学研究院 | Mechanical arm motion planning method based on improved RRT algorithm |
| CN114536328B (en) * | 2022-01-26 | 2024-02-06 | 中国科学院合肥物质科学研究院 | Mechanical arm motion planning method based on improved RRT algorithm |
| CN114924575A (en) * | 2022-07-21 | 2022-08-19 | 北京建筑大学 | Mobile robot path planning method and device, electronic equipment and storage medium |
| CN114924575B (en) * | 2022-07-21 | 2022-09-23 | 北京建筑大学 | Mobile robot path planning method and device, electronic equipment and storage medium |
| CN117311369A (en) * | 2023-11-29 | 2023-12-29 | 江苏伊凡诺尔智能科技有限公司 | Multi-scene intelligent robot inspection method |
| CN117311369B (en) * | 2023-11-29 | 2024-02-09 | 江苏伊凡诺尔智能科技有限公司 | Multi-scene intelligent robot inspection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109900289B (en) | 2023-02-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109900289A (en) | Paths planning method and device based on closed-loop control | |
| CN109916421A (en) | Paths planning method and device | |
| CN110333714B (en) | Unmanned vehicle path planning method and device | |
| CN110018689B (en) | Dynamic window-based multi-virtual target point global dynamic path planning algorithm | |
| Wen et al. | UAV online path planning algorithm in a low altitude dangerous environment | |
| CN102207736B (en) | Robot path planning method and apparatus thereof based on Bezier curve | |
| CN109885891A (en) | A kind of intelligent vehicle GPU accelerates method for planning track parallel | |
| US20200089239A1 (en) | Computer-Implemented Method and a System for Defining a Path for a Vehicle Within an Environment With Obstacles | |
| CN106989748A (en) | A kind of Agriculture Mobile Robot man-computer cooperation paths planning method based on cloud model | |
| CN109871032A (en) | A kind of multiple no-manned plane formation cooperative control method based on Model Predictive Control | |
| CN107479558A (en) | Vehicle field paths planning method based on vehicle movement model | |
| CN106873599A (en) | Unmanned bicycle paths planning method based on ant group algorithm and polar coordinate transform | |
| CN106444835A (en) | Underwater vehicle three-dimensional path planning method based on Lazy Theta satellite and particle swarm hybrid algorithm | |
| CN111694356A (en) | Driving control method and device, electronic equipment and storage medium | |
| WO2023103692A1 (en) | Decision planning method for autonomous driving, electronic device, and computer storage medium | |
| CN109582032B (en) | Multi-rotor unmanned aerial vehicle rapid real-time obstacle avoidance path selection method in complex environment | |
| CN110514204A (en) | Path planning method, device, aircraft and computer readable storage medium | |
| Sun et al. | A novel fuzzy control algorithm for three-dimensional AUV path planning based on sonar model | |
| CN115373384A (en) | Vehicle dynamic path planning method and system based on improved RRT | |
| CN116339316A (en) | Deep sea mining robot path planning method based on deep reinforcement learning | |
| CN111399534B (en) | Method and system for capturing aerial medium-high speed moving targets by multiple unmanned aerial vehicles | |
| JP2023523350A (en) | Vehicle-based data processing method, data processing apparatus, computer apparatus, and computer program | |
| CN109556609A (en) | A kind of collision prevention method and device based on artificial intelligence | |
| GB2564930A (en) | Vehicle route navigation | |
| Yang et al. | Path planning and collision avoidance methods for distributed multi-robot systems in complex dynamic environments |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Applicant after: Beijing Idriverplus Technology Co.,Ltd. Address before: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Applicant before: Beijing Idriverplus Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |