Method and device for local path motion planning of pilotless automobile

• Main Authors: GAN XINHUA, HUANG SHAOTANG, XIU CAIJING, XU WEI, ZHA HONGSHAN
• Format: Patent
• Language: Chinese; English
• Published: 04.05.2018
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to a method and device for local path motion planning of a pilotless automobile. The method for local path motion planning of the pilotless automobile includes the steps of shifting an initial planning path to a middle line of a currently detected lane, to obtain a desired driving path of the pilotless automobile; according to a current vehicle position point of the pilotlessautomobile, the current vehicle heading and the desired driving path, fitting a local path trajectory cluster; according to a preset cost function, obtaining a cost function value of each local pathtrajectory in the local path trajectory cluster; and selecting a local path trajectory with the smallest cost function value as a current optimal local motion path for the pilotless automobile. According to the method and device for local path motion planning of the pilotless automobile, the optimal local motion path for driving is planned based on the desired driving path for the pilotless automobile and current vehicle p