Path planning method, device, electronic device and storage medium for drivable area

Abstract

The present disclosure provides a route planning method, device, electronic equipment and storage medium for a drivable area. This method is applied to unmanned equipment, that is, automatic driving equipment or unmanned vehicles, including: determining the drivable area of ​​the vehicle, and generating an initial path along the starting point of the vehicle in the drivable area according to random sampling; performing simplification on the initial path The simplified path is obtained by the operation, and the simplified path contains the key points of the path obtained by simplifying the path points in the initial path; all the key points of the path in the simplified path are intelligently sampled at the same time, and the path after intelligent sampling is determined, based on the path points The distance from the boundary of the drivable area and the total length of the path are used to filter the paths before and after intelligent sampling; the final path is generated according to the filtering results, so that the vehicle can drive in the drivable area along the final path. The disclosure can improve the scientificity and applicability of the route planning results, and realize the global optimization of the route planning of the drivable area.

Description

technical field [0001] The present disclosure relates to the technical field of unmanned driving, and in particular to a route planning method, device, electronic equipment and storage medium for a drivable area. Background technique [0002] Unmanned path planning technology is one of the core technologies of autonomous vehicles. During the driving process of the self-driving vehicle, the surrounding environment information of the vehicle includes the drivable area in addition to the high-precision map and obstacle information. The drivable area can be used to indicate the specific area around the vehicle that can drive without collision. The area information is more accurate than the high-precision map, and can be obtained in real time by the sensors on the self-driving vehicle. [0003] In the existing technology, when using high-precision maps for path planning, it is often impossible to deal with path planning problems in some extreme scenarios. For example, when the r...

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Problems solved by technology

[0005] In view of this, the embodiments of the present disclosure provide a route planning method, device, electronic equipment, and storage medium for a drivable area to solve the problems in the prior art that the route planning results are not scientific enough, the applicability is poor, and it is easy to fall into a local optimal dilemma The problem

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