Route planning method and device for vehicle, vehicle-mounted equipment and storage medium

A path planning and path technology, applied in the direction of control devices, etc., can solve the problems of poor driving comfort, uneven path planning, and inability to guarantee lateral paths, etc., and achieve the effect of high driving comfort and good ride comfort

Active Publication Date: 2020-03-06
UISEE TECH BEIJING LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This algorithm divides each path trajectory into horizontal path planning and vertical velocity planning, and performs horizontal path planning first, then longitudinal velocity planning, but the transverse path planning is a decoupled planning, and it is usually impossible to guarantee the There is a feasible solution, which will easily lead to uneven path planning and poor driving comfort

Method used

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  • Route planning method and device for vehicle, vehicle-mounted equipment and storage medium
  • Route planning method and device for vehicle, vehicle-mounted equipment and storage medium
  • Route planning method and device for vehicle, vehicle-mounted equipment and storage medium

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Embodiment Construction

[0027] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the described embodiments are some, not all, embodiments of the present invention. The specific embodiments described here are only used to explain the present invention, but not to limit the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention belong to the protection scope of the present invention.

[0028] It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations.

[0029] Aiming at the problems...

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Abstract

The embodiment of the invention relates to a route planning method for a vehicle. The route planning method for the vehicle comprises the steps that the current vehicle speed and a transverse acceleration threshold value of an intelligent driving vehicle are acquired; route curvature constraint conditions are generated according to the current vehicle speed and the transverse acceleration threshold value of the intelligent driving vehicle; and driving route planning is conducted on the basis of the route curvature constraint conditions. The embodiment of the invention further discloses a routeplanning device for the corresponding vehicle, vehicle-mounted equipment and a non-transient computer readable storage medium. According to the technical scheme in the embodiment, the problems that violent turning, fierce braking and insufficient turning in a low-speed state occur when the vehicle changes the route, avoids an obstacle or overtakes other vehicles can be effectively avoided.

Description

technical field [0001] Embodiments of the present disclosure relate to the technical field of vehicle control, and in particular to a vehicle path planning method and device, vehicle-mounted equipment, and a storage medium. Background technique [0002] With the development of intelligent vehicle technology, the automatic driving technology of vehicles has gradually become a hot spot in the field of vehicle research. Due to the complexity of the road environment, when the vehicle needs to change lanes, avoid obstacles or overtake autonomously during driving, it needs to carry out the path planning. [0003] At present, the commonly used path planning method is the discrete difference curve algorithm. The discrete interpolation curve algorithm has gradually become an important algorithm in the field of path planning due to its advantages of good real-time performance, high Lubang property, and continuous curvature of trajectory results. The algorithm divides each path trajec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/105B60W40/109B60W50/00
CPCB60W40/105B60W40/109B60W50/00B60W50/0098B60W2050/0043B60W2520/10B60W2520/125
Inventor 蔡祺生
Owner UISEE TECH BEIJING LTD
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