Unmanned vehicle based on the speed barrier of real-time trajectory planning method

The present invention discloses an unmanned vehicle speed based on real-time trajectory planning disorder, comprising: 1: anti-collision based on the current position of the motor configuration of the search tree nodes unmanned vehicle A is ni, j; 2: based on unmanned vehicles and obstacles A a configuration unmanned vehicle's speed up the anti-collision speed set RAVj (ti); 3: smooth controlled by a third order polynomial to calculate the optimum velocity of the current planning unit time; 4: set speed risk factors riski (); 5: based RVJ speed set up (ti) and Riski () to select a new velocity, i.e., operator time ti oi, j, l; 6: based on the node ni, j and operators oi, j, l branch structure ej, k, to obtain or time ti + 1 ti + Ts the node ni + 1, k; 7: as ni + 1, k g node status at the target state is extremely small neighborhood, the algorithm is completed, otherwise the first step in the cycle is calculated. The present invention is applicable to unmanned vehicle lane change, the turning intersection, real-time trajectory of obstacle avoidance maneuvering various planning, in the presence of a plurality of moving obstacle can ensure high accuracy and real-time planning results and the maximum limits to meet the speed and smoothness of the trajectory planning.