Global path planning and cutting method and system based on lanelet framework

• Main Authors: HE ZIJUN, WU YUANQING, LU YONGKANG, XIA CANMING
• Format: Patent
• Language: Chinese; English
• Published: 02.07.2021
• Subjects: CONTROLLING; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; REGULATING; SURVEYING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

The invention provides a global path planning and cutting method and system based on a lanelet framework, and the method comprises the following steps: S1, converting a map into a map formed by splicing sections of lanelet based on the lanelet framework; s2, according to the defined starting point, the defined ending point and the driving direction of the road, performing path search by using a Dijkstra algorithm to obtain a preliminary path; s3, randomly distributing a plurality of waypoints on the center line of the lanelet where the starting point and the ending point are located, wherein the first waypoint and the last waypoint of each section of lanelet are located at the boundary of the lanelet; s4, acquiring a path point closest to the starting point and the ending point; s5, according to the driving direction, deleting the path points behind the starting point and the path points in front of the ending point, and forming path planning of lanelet where the starting point and the ending point are locate