Driving path planning method and device and vehicle

A route planning and route technology, which is applied to the traffic control system, measurement device, control device and other directions of road vehicles, can solve the problems of the large influence of route planning accuracy and the inability to consider the complexity of actual traffic, etc., to improve reliability and reliability. The effect of accuracy

Active Publication Date: 2019-05-28
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Abstract
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  • Application Information

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Problems solved by technology

[0003] Embodiments of the present invention provide a driving path planning method, device, and vehicle to solve the problem that

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  • Driving path planning method and device and vehicle
  • Driving path planning method and device and vehicle
  • Driving path planning method and device and vehicle

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Embodiment Construction

[0047] In the following, only some exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and descriptions are to be regarded as illustrative in nature and not restrictive.

[0048] An embodiment of the present invention provides a driving path planning method, in an implementation manner, such as figure 1 As shown, a path planning method is provided, the method comprising:

[0049] Step 101: Determine at least one reference curve covering the first length range, and select a target reference curve covering the first length range from the at least one reference curve covering the first length range; wherein, the target reference curve is at least capable of Curves for avoiding obstacles within the first length range;

[0050]Step 102: Extract a curve to be adjusted covering a ...

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Abstract

The embodiment of the invention provides a driving path planning method and device and a vehicle. The method comprises the steps of determining at least one reference curve covering a first length range, and selecting a target reference curve covering the first length range from the at least one reference curve covering the first length range; extracting a to-be-adjusted curve covering a second length range from the target reference curve covering the first length range; processing the to-be-adjusted curve based on the safety parameters in the second length range to obtain an adjusted curve; and determining a driving path covering the first length range based on the adjusted curve and the target reference curve. The problems are solved that the complexity of actual traffic cannot be considered and the path planning is influenced by the precision of sampling points.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving control, in particular to a driving path planning method, device and vehicle. Background technique [0002] Traditional automatic driving trajectory planning methods usually use dynamic programming as an after-the-fact evaluation to solve discrete optimization problems without failure, but this will cause the problem that the quality of the solution is greatly affected by the sampling accuracy; another way is the two Sub-planning approach, however, has the problem of being difficult to represent the complexity of actual traffic scenarios. Contents of the invention [0003] Embodiments of the present invention provide a driving path planning method, device, and vehicle to solve the problem that the complexity of actual traffic cannot be considered and the path planning is greatly affected by the accuracy of sampling points. [0004] In a first aspect, an embodiment of the presen...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCB60W60/0015B60W2554/80B60W2554/40B60W2554/20B60W2050/005B60W2050/006B60W30/0956G05D1/0217B60W30/095G01C21/3415B60W2050/0005B60W60/0051B60W30/10B60W40/072B60W2552/50G01C21/3453G05D1/0214G05D2201/0213G08G1/0133G08G1/0145
Inventor 付骁鑫郝大洋朱振广陈至元朱帆
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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