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A driving route planning method, device and vehicle

A path planning and routing technology, which is applied to road vehicle traffic control systems, measuring devices, control devices, etc., can solve the problems that the accuracy of path planning is greatly affected, and the complexity of actual traffic cannot be considered, so as to improve reliability and The effect of accuracy

Active Publication Date: 2021-04-30
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • 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 the complexity of actual traffic cannot be considered and the path planning is greatly affected by the accuracy of sampling points

Method used

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  • A driving route planning method, device and vehicle
  • A driving route planning method, device and vehicle
  • A driving route planning method, 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

Embodiments of the present invention propose a driving path planning method, device, and vehicle, the method including: determining at least one reference curve covering the first length range, and selecting a second curve from the at least one reference curve covering the first length range A target reference curve in a length range; from the target reference curve covering the first length range, extract a curve to be adjusted covering a second length range; The curve is processed to obtain an adjustment curve; and a driving route covering the first length range is determined based on the adjustment curve and a target reference curve. Solve the problem that the complexity of the actual traffic cannot be considered and the problem that the path planning is affected by the accuracy of the 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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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34
CPCG05D1/0217B60W60/0015B60W2554/80B60W2554/40B60W2554/20B60W2050/005B60W2050/006B60W30/0956B60W30/095G01C21/3415B60W2050/0005B60W60/0051B60W30/10B60W40/072B60W2552/50G05D1/0214G01C21/3453G08G1/0133G08G1/0145
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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