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Title:
MULTI-SCENARIO-ORIENTED AUTONOMOUS DRIVING PLANNING METHOD AND SYSTEM
Document Type and Number:
WIPO Patent Application WO/2022/193584
Kind Code:
A1
Abstract:
A multi-scenario-oriented autonomous driving planning method, comprising: acquiring a global reference route (S1); generating a local reference route according to whether there is an optimal trajectory, and the position of a vehicle and the global reference route: if there is no optimal trajectory, performing path point sampling according to the position of the vehicle and the global reference route to obtain a first local reference route, and also searching for and generating a reference route of a corresponding traffic road segment by using a hybrid A* algorithm, and splicing and integrating same into the first local reference route; performing smoothing processing on the reference route under the condition of taking a vehicle kinematic constraint and an obstacle constraint into consideration; and if there is an optimal trajectory, performing path point sampling according to the position of the vehicle and the global reference route to obtain the first local reference route, and performing smoothing processing (S2); acquiring an optimal trajectory according to the position of the vehicle, obstacle information and the final local reference route (S3); and cyclically performing S2 and S3 (S4). A multi-scenario-oriented autonomous driving planning system, comprising: a global planning module, a reference route provision module and a local planning module. By means of the method and the system, an autonomous driving vehicle can more robustly deal with diversified traffic scenarios.

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Inventors:
SUN HONGBIN (CN)
CHEN WEIHUANG (CN)
Application Number:
PCT/CN2021/118608
Publication Date:
September 22, 2022
Filing Date:
September 15, 2021
Export Citation:
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Assignee:
UNIV XI AN JIAOTONG (CN)
International Classes:
G01C21/34
Foreign References:
CN112964271A2021-06-15
CN110609557A2019-12-24
CN108549388A2018-09-18
CN107702716A2018-02-16
CN108549378A2018-09-18
CN110081894A2019-08-02
CN108007471A2018-05-08
CN112362074A2021-02-12
CN109375632A2019-02-22
CN108227695A2018-06-29
US6169956B12001-01-02
Attorney, Agent or Firm:
XI'AN TONG DA PATENT AGENCY CO., LTD. (CN)
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