Path planning method, device and computer equipment for unmanned vehicles

Abstract

This application relates to a path planning method, device, storage medium and computer equipment for unmanned vehicles. The method includes: obtaining the starting point of the path and the road section where the destination is located; The entry endpoint of the road section, and the entry endpoint and exit endpoint of each section used to connect the exit endpoint of the road section where the starting point is located and the entry endpoint of the destination section are searched for a path to generate an initial path; according to the entry endpoint of each connecting channel in the initial path Update the exit endpoint of the previous road section of each link in the passable direction; the entry endpoint of the link is that the attribute category contained in the previous road section of the link in the passable direction matches the attribute category of the link The exit endpoint of the lane of ; generate the final planned path according to the endpoints in the updated initial path. The solution provided by this application can ensure that unmanned vehicles comply with traffic rules and drive safely.

Description

technical field [0001] The present invention relates to the field of unmanned driving technology, in particular to a path planning method, device, computer-readable storage medium and computer equipment for unmanned vehicles. Background technique [0002] Path planning is one of the key technologies in the study of driving vehicles. When path planning is performed, it is generally a purely geometric path from the starting point to the destination (also called the target point). At present, the path planning of vehicles is generally road-level planning, that is, the road to be passed from the starting point to the destination is planned. However, when driving vehicles based on the path obtained after road-level planning, especially for unmanned vehicles, it will not be possible to ensure that unmanned vehicles obey the traffic rules, nor can they guarantee driving safety. Contents of the invention [0003] Based on this, it is necessary to provide a path planning method, d...

AI Technical Summary

Problems solved by technology

[0003] Based on this, it is necessary to provide a path planning method, device, computer-readable storage medium and computer equipment for unmanned vehicles in view of the problem that the driving path generated by the traditional method cannot ensure that the vehicle obeys the traffic rules and cannot guarantee driving safety.

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