Method and device for generating path of unmanned vehicle on construction section

Patent metadata

Field	Value
Publication number	US-11221224-B2
Application number	US-201816489365-A
Country	US
Kind code	B2
Filing date	Oct 19, 2018
Priority date	Oct 25, 2017
Publication date	Jan 11, 2022
Grant date	Jan 11, 2022

Abstract

Provide are a method and device for generating a path of an unmanned vehicle on a construction section. The method includes: when detecting a construction section, detected obstacle information is acquired; a current accessible area of the construction section is determined according to the type and position information of the obstacle, and each road point included in the current accessible area is determined; a terminal road point of a target driving path is determined according to the current accessible area; a current location of a vehicle is taken as a start road point, path search is performed in the road points included in the current accessible area according to the start road point and the terminal road point, and passing road points of the target driving path in the construction section are determined; and a target driving path is generated according to the start road point, the passing road points and the terminal road point.

First claim

What is claimed is:

1. A method for generating a path of an unmanned vehicle on a construction section, applied to an unmanned vehicle having an environment sensing system and a control terminal, comprising:
when detecting a construction section, acquiring detected obstacle information, the obstacle information comprising type and feature information of an obstacle, and the feature information comprising position information;
determining a current accessible area of the construction section according to the type and position information of the obstacle, and determining each road point in the current accessible area;
determining a terminal road point of a target driving path according to the current accessible area;
taking a current location of a vehicle as a start road point, performing path search in the road points in the current accessible area according to the start road point and the terminal road point, and determining passing road points of the target driving path in the construction section; and
generating a target driving path according to the start road point, the passing road points and the terminal road point;
wherein a step of determining the terminal road point of the target driving path according to the current accessible area comprises:
when a road cross section of a predetermined condition is searched, determining the terminal road point of the target driving path according to a lane center line road point covered by the road cross section of the predetermined condition, wherein the road cross section of the predetermined condition is: from the road cross section of the predetermined condition, all lane center line road points of all lanes covered by the construction section are located on the road cross section in the current accessible area;
when the road cross section of the predetermined condition is not searched but a road point of the predetermined condition is searched, determining the terminal road point of the target driving path according to the road point of the predetermined condition, wherein the road point of the predetermined condition is a lane center line road point located in the current accessible area at a farthest end of a detection range; and
when the road cross section of the predetermined condition is not searched and the road point of the predetermined condition is not searched, searching for an accessible opening on the road cross section at the farthest end of the detection range, and determining the terminal road point of the target driving path according to the accessible opening.

2. The method for generating a path of an unmanned vehicle on a construction section as claimed in claim 1 , wherein the feature information further comprises shape information and size information;
a manner of determining a current accessible area of the construction section according to the type and position information of the obstacle comprises:
determining an obstructing area of obstacles of each specified category in the construction section according to the position information, the shape information and the size information of the obstacles of the specified categories;
determining a current inaccessible area in the construction section based on the obstructing area; and
determining an area except the current inaccessible area of the construction section as the current accessible area.

3. The method for generating a path of an unmanned vehicle on a construction section as claimed in claim 2 , wherein a step of determining the current inaccessible area in the construction section based on the obstructing area comprises:
determining an area obtained by extending an edge of the obstructing area to the periphery by a predetermined distance as the current inaccessible area in the construction section.

4. The method for generating a path of an unmanned vehicle on a construction section as claimed in claim 1 , wherein a step of generating the target driving path according to the start road point, the passing road points and the terminal road point comprises:
generating an initial driving path according to the start road point, the passing road points and the terminal road point; and
filtering the initial driving path to obtain the target driving path.

5. The method for generating a path of an unmanned vehicle on a construction section as claimed in claim 1 , wherein a path search process is performed by using an A-star algorithm, and a total cost value of a current road point is calculated in the path search process by using the following formula:
f ( t )= g ( t )+ h ( t )+ k*e ( t )
where f(t) is a total cost value of a current road point; g(t) is a cumulative distance cost from the start road point to the current road point; h(t) is an estimated distance cost from the current road point to the terminal road point; e(t) is a distance cost from an obstacle of a specified category closest to the current road point to the current road point; and k is a cost constant.

6. A device for generating a path of an unmanned vehicle on a construction section, comprising:
a feature information acquisition module, configured to acquire, when detecting a construction section, detected obstacle information, the obstacle information comprising type and feature information of an obstacle, and the feature information comprising position information;
an accessible area determination module, configured to determine a current accessible area of the construction section according to the type and position information of the obstacle, and determine each road point in the current accessible area;
a terminal road point determination module, configured to determine a terminal road point of a target driving path according to the current accessible area;
a passing road point determination module, configured to take a current location of a vehicle as a start road point, performing path search in the road points in the current accessible area according to the start road point and the terminal road point, and determine passing road points of the target driving path in the construction section; and
a driving path generation module, configured to generate a target driving path according to the start road point, the passing road points and the terminal road point;
wherein the device is further configured to:
when a road cross section of a predetermined condition is searched, determine the terminal road point of the target driving path according to a lane center line road point covered by the road cross section of the predetermined condition, wherein the road cross section of the predetermined condition is: from the road cross section of the predetermined condition, all lane center line road points of all lanes covered by the construction section are located on the road cross section in the current accessible area;
when the road cross section of the predetermined condition is not searched but a road point of the predetermined condition is searched, determine the terminal road point of the target driving path according to the road point of the predetermined condition, wherein the road point of the predetermined condition is a lane center line road point located in the current accessible area at a farthest end of a detection range; and
when the road cross section of the predetermined condition is not searched and the road point of the predetermined condition is not searched, search for an accessible opening on the road cross section at the farthest end of the detection range, and determine the terminal road point of the target driving path according to the accessible opening.

7. The device for generating a path of an unmanned vehicle on a construction section as claimed in claim 6 , wherein the feature information further comprises shape information and size informat

Assignees

• Guangzhou Automobile Group Co

Inventors

• Gan Xinhua
• Zha Hongshan
• Huang Ted S
• Xu Wei
• Xiu Caijing

Classifications

• G01C21/3446 Primary

  Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags or using precalculated routes · CPC title

• E02F9/262 Primary

  with follow-up actions to control the work tool, e.g. controller · CPC title

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G06V10/82

  using neural networks · CPC title

• G06V10/764

  using classification, e.g. of video objects · CPC title