Travel route generating method for unmanned vehicle
First Claim
1. A travel route generating method for an unmanned vehicle, comprising:
- a condition input step of inputting a vehicle constraint condition including a vehicle width and a minimum turning radius of the unmanned vehicle, and a geometrical constraint condition including a travel route generation range in which the unmanned vehicle is to travel, an obstacle to avoid, and positions and directions of an entrance point and an exit point; and
a travel route generating step of generating a travel route such that the vehicle constraint condition and the geometrical constraint condition are satisfied, and such that a function value of a cost function is minimized, the cost function being composed of at least;
a first term for reducing a turning radius of the unmanned vehicle by reducing curvature of the travel route,a second term for reducing a steering operation amount per unit distance by reducing a rate of change of curvature of the travel route, anda third term for shortening a travel distance of the travel route, whereinthe first term is obtained by integrating, along the travel route, the curvature of the travel route or a steering angle of the unmanned vehicle regarding micro section of the travel route,the second term is obtained by integrating, along the travel route, the rate of change of the curvature of the travel route or the steering operation amount of the unmanned vehicle regarding the micro section of the travel route, andthe third term is obtained by integrating, along the travel route, the travel distance of the travel route regarding the micro section of the travel route.
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Abstract
A travel route generating method for an unmanned vehicle, which includes a condition input step of inputting a vehicle constraint condition including a vehicle width and a minimum turning radius of the unmanned vehicle, and a geometrical constraint condition including a travel route generation range in which the unmanned vehicle is to travel, an obstacle to avoid, and a position and a direction of an entrance point and an exit point; and a travel route generating step of generating a travel route such that the vehicle constraint condition and the geometrical constraint condition are satisfied, and such that a function value of a cost function having at least a magnitude of a curve and/or a rate of change in the curve as a cost element is minimized.
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Citations
5 Claims
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1. A travel route generating method for an unmanned vehicle, comprising:
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a condition input step of inputting a vehicle constraint condition including a vehicle width and a minimum turning radius of the unmanned vehicle, and a geometrical constraint condition including a travel route generation range in which the unmanned vehicle is to travel, an obstacle to avoid, and positions and directions of an entrance point and an exit point; and a travel route generating step of generating a travel route such that the vehicle constraint condition and the geometrical constraint condition are satisfied, and such that a function value of a cost function is minimized, the cost function being composed of at least; a first term for reducing a turning radius of the unmanned vehicle by reducing curvature of the travel route, a second term for reducing a steering operation amount per unit distance by reducing a rate of change of curvature of the travel route, and a third term for shortening a travel distance of the travel route, wherein the first term is obtained by integrating, along the travel route, the curvature of the travel route or a steering angle of the unmanned vehicle regarding micro section of the travel route, the second term is obtained by integrating, along the travel route, the rate of change of the curvature of the travel route or the steering operation amount of the unmanned vehicle regarding the micro section of the travel route, and the third term is obtained by integrating, along the travel route, the travel distance of the travel route regarding the micro section of the travel route. - View Dependent Claims (2, 3)
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4. The travel route generating method for an unmanned vehicle, comprising
a condition input step of inputting a vehicle constraint condition including a vehicle width and a minimum turning radius of the unmanned vehicle, and a geometrical constraint condition including a travel route generation range in which the unmanned vehicle is to travel, an obstacle to avoid, and positions and directions of an entrance point and an exit point; - and
a travel route generating step of generating a travel route such that the vehicle constraint condition and the geometrical constraint condition are satisfied, and such that a function value of a cost function having at least a magnitude of a curve and/or a rate of change in the curve as a cost element is minimized, wherein the travel route generating step further comprises; an interpolation point searching step of searching for an interpolation point of the travel route along which the unmanned vehicle is to travel; and an interpolation step of interpolating the interpolation point in the route passing from the entrance point via the interpolation point to the exit point, and wherein the search in the interpolation point searching step and/or the interpolation in the interpolation step are/is performed so as to minimize the function value of the cost function. - View Dependent Claims (5)
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Specification