Title:
VEHICLE LOCAL TRAJECTORY PLANNING METHOD AND SYSTEM HAVING MULTIPLE OBSTACLE AVOIDANCE MODES
Document Type and Number:
WIPO Patent Application WO/2023/178910
Kind Code:
A1
Abstract:
A vehicle local trajectory planning method and system having multiple obstacle avoidance modes, the method comprising: S1, acquiring current host-vehicle position and orientation information, obstacle information, map information and a reference path; S2, selecting, amongst all obstacles, obstacles within a road width range of the reference path ahead of a current vehicle position, classifying same, and allocating a corresponding obstacle avoidance decision to each obstacle subjected to classification; S3, according to the reference path and the current host-vehicle position and orientation information, performing local trajectory planning to generate a series of candidate local trajectories; S4, taking out a candidate local trajectory having the lowest cost, selecting a collision detection method according to the obstacle avoidance decisions generated in step S2 so as to carry out collision detection on each obstacle and the candidate local trajectory, and if a collision occurs on the candidate local trajectory, eliminating the candidate local trajectory and re-executing step S4 until a candidate local trajectory having the lowest cost is obtained; and S5, performing interpolation on the collision-free candidate local trajectory obtained in step S4 to obtain a local trajectory.
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Inventors:
YANG ZEYU (CN)
WANG JIALONG (CN)
XU BIAO (CN)
QIN XIAOHUI (CN)
WANG XIAOWEI (CN)
QIN HONGMAO (CN)
QIN ZHAOBO (CN)
XIE GUOTAO (CN)
HU MANJIANG (CN)
BIAN YOUGANG (CN)
DING RONGJUN (CN)
WANG JIALONG (CN)
XU BIAO (CN)
QIN XIAOHUI (CN)
WANG XIAOWEI (CN)
QIN HONGMAO (CN)
QIN ZHAOBO (CN)
XIE GUOTAO (CN)
HU MANJIANG (CN)
BIAN YOUGANG (CN)
DING RONGJUN (CN)
Application Number:
PCT/CN2022/111967
Publication Date:
September 28, 2023
Filing Date:
August 12, 2022
Export Citation:
Assignee:
JIANGSU JITRI TSINGUNITED INTELLIGENT CONTROL TECH CO LTD (CN)
WUXI INTELLIGENT CONTROL RES INSTITUTE HNU (CN)
WUXI INTELLIGENT CONTROL RES INSTITUTE HNU (CN)
International Classes:
G05D1/02
Foreign References:
| CN111694356A | 2020-09-22 | |||
| CN112947419A | 2021-06-11 | |||
| CN111856507A | 2020-10-30 | |||
| CN110766220A | 2020-02-07 | |||
| CN106774347A | 2017-05-31 | |||
| CN109709945A | 2019-05-03 | |||
| CN111469836A | 2020-07-31 | |||
| CN110597260A | 2019-12-20 | |||
| US20190286145A1 | 2019-09-19 |
Attorney, Agent or Firm:
BEIJING IPWIN IP AGENCY (PARTNERSHIP) (CN)
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