Path searching method and device, equipment and storage medium

A path search and path technology, applied in the field of automatic driving, can solve problems such as inability to adapt, and achieve the effects of solving control delays, reducing time consumption, and ensuring safety

Active Publication Date: 2021-07-16
JINGDONG KUNPENG (JIANGSU) TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, these algorithms cannot adapt to complex areas such as residential areas and shopping mall entrances.

Method used

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  • Path searching method and device, equipment and storage medium
  • Path searching method and device, equipment and storage medium
  • Path searching method and device, equipment and storage medium

Examples

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Embodiment Construction

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the specific technical solutions of the application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following examples are used to illustrate the present application, but not to limit the scope of the present application.

[0029] In order to better understand the present application, the nouns and terms involved in the embodiments of the present application will be described before the embodiments of the present application are further described in detail. The nouns and terms involved in the embodiments of the present application are applicable to the following explanations.

[0030] 1) Heuristic search, Heuristically Search, also known as Informed Search, uses the heuristic information of the starting location point and the target location point in the path search process to...

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Abstract

The embodiment of the invention discloses a path searching method, and the method comprises the steps: constructing a starting circle according to a starting position point, and constructing a target circle according to a target position point; determining a middle circle with a direction according to the starting circle and the target circle, wherein in the direction of the middle circle, the starting circle, the middle circle and the target circle form a directed circle path, and each circle in the directed circle path is overlapped with an adjacent circle; determining an intermediate node in the directed circle path according to a circle passed by the directed circle path; and forming a target path from a starting node corresponding to the starting position, the intermediate node and a target point corresponding to the target position point. In addition, the embodiment of the invention further discloses a path searching device and equipment and a storage medium.

Description

technical field [0001] The embodiment of the present application relates to the technical field of automatic driving, and relates to but not limited to a route search method, device, device, and storage medium. Background technique [0002] In autonomous driving technology, when it is necessary to park in a garage or exit a parking space, or reverse a car in a complex environment, it is often necessary to use the planning space as a free space, combined with automatic driving such as autonomous vehicles or unmanned delivery vehicles. The characteristics of the vehicle's kinematics model are used for path planning algorithm design. Commonly used path planning methods include two main types of algorithms based on search and sampling, for example: hybrid A* algorithm, rapidly expanding random tree (rapidlyexploring random tree, RRT) algorithm, etc. However, these algorithms cannot adapt to complex areas such as residential areas and shopping mall entrances. Contents of the i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W60/00
CPCB60W60/001
Inventor 李杨
Owner JINGDONG KUNPENG (JIANGSU) TECH CO LTD
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