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Patent Searching and Data


Title:
PATH PLANNING METHOD, SYSTEM, AND DEVICE FOR AUTONOMOUS DRIVING
Document Type and Number:
WIPO Patent Application WO/2019/042295
Kind Code:
A1
Abstract:
A path planning method, system, and device for autonomous driving are provided. The method comprises: acquiring environmental awareness information and vehicle positioning and navigation information, wherein the environmental awareness information comprises obstacle information, roadside information, and lane line information, and the vehicle positioning and navigation information comprises a vehicle position and a target route; generating a sub-path according to the environmental awareness information and the vehicle positioning and navigation information, to obtain a candidate sub-path satisfying a vehicle constraint; performing collision detection on the candidate sub-path satisfying the vehicle constraint, to obtain a candidate collision-free sub-path; using an A* search algorithm to perform a sub-path search on the candidate collision-free sub-path; and obtaining, according to a sub-path search result, a local path of a vehicle. The path planning method, system, and device for autonomous driving have a low storage space requirement, meet a nonholonomic constraint requirement of a vehicle, have favorable adaptability and scalability, and are widely applicable in the field of autonomous driving.

Inventors:
TU QIANG (CN)
LAI JIANMING (CN)
LI PENG (CN)
CHEN SHENGJUN (CN)
XIAO ZHIGUANG (CN)
Application Number:
PCT/CN2018/102811
Publication Date:
March 07, 2019
Filing Date:
August 29, 2018
Export Citation:
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Assignee:
GUANGZHOU XIAOPENG MOTORS TECH CO LTD (CN)
International Classes:
G01C21/34; G05D1/02
Foreign References:
CN107702716A2018-02-16
CN106598055A2017-04-26
KR20150084143A2015-07-22
CN102591332A2012-07-18
Other References:
JIANG, YAN ET AL.: "System Design of self-driving in Simplified Urban Environments", JOURNAL OF MECHANICAL ENGINEERING, vol. 48, no. 20, 20 October 2012 (2012-10-20), pages 103 - 112, ISSN: 0577-6686
ZHOU, LIANG: "The Research on Mobile Robot Path Planning in Irregular Obstacle Environment", INFORMATION SCIENCE & TECHNOLOGY, CHINA MASTER'S THESES FULL-TEXT DATABASE, 15 June 2013 (2013-06-15), ISSN: 1674-0246
ZHANG, . XUEFEI ET AL.: "A Method of Local Path Planning and Trajectory Generation for ALV", PROCEEDINGS OF SAE- CHINA CONGRESS 2007, 30 August 2007 (2007-08-30), pages 1225 - 1228
FANG, YANJUN ET AL.: "Study of the Path Planning of Unmanned Vehicles Based on the Multi-curvature Fitting-model", AUTOMATION & INSTRUMENTATION, 15 March 2012 (2012-03-15), pages 1 - 5, ISSN: 1001-9944
Attorney, Agent or Firm:
CHOFN INTELLECTUAL PROPERTY (CN)
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