The invention discloses a multi-mode lane changing path planning algorithm, which is used for planning in combination with the four-wheel independent steering characteristic of an in-port container flat plate transport vehicle, and obtaining a lane center line and boundary information based on an existing high-precision map to construct a reference line; acquiring surrounding obstacle information; point cloud information of an obstacle is output through a laser radar, the obstacle is reflected on a grid with a fixed resolution through point cloud in the form of whether a grid unit is occupied or not, and a drivable space is calculated in the path direction; on the basis of the feasible space obtained in the previous step, designing different lane changing modes, and deciding to select an optimal lane changing mode; and planning a lane changing path by using a sampling algorithm based on a decision result. The lane changing function in a narrow space is achieved by combining multi-mode control methods such as front and rear axle same-direction steering and front and rear axle reverse steering of the vehicle, the passing efficiency is improved, and the port operation efficiency is improved.

    本发明公开了一种多模式换道路径规划算法,结合港内集装箱平板运输车的四轮独立转向特性进行规划,基于现有的高精度地图获取车道中心线及边界信息构造参考线;获取周边障碍物信息;通过激光雷达输出障碍物的点云信息,障碍物通过点云在固定分辨率的栅格上以是否占据栅格单位的形式体现,计算沿路径方向计算可行驶空间;基于前述步骤中获取的可行空间,设计不同换道模式,决策选择最优换道方式;基于决策结果,使用采样算法规划换道路径。本发明通过结合车辆前后轴同向转向,及前后轴反向转向等多模式控制方法,实现狭小空间下的换道功能,提升通行效率,提高港口运营效率。


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    Title :

    Multi-mode lane changing path planning algorithm


    Additional title:

    一种多模式换道路径规划算法


    Contributors:
    JIANG XUELIANG (author) / DU XUEJIN (author) / LI HUI (author) / LUO YUANFU (author) / KOYO (author)

    Publication date :

    2025-03-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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