Path planning method and device, storage medium and electronic equipment

Pending Publication Date: 2021-11-23
JINGDONG KUNPENG (JIANGSU) TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Considering the layout of the vehicle sensor and the navigation path, simply reversing may cause the traffic light to be out of the sensor's field of view, making the perception module unable to recognize the traffic light state, resulting in the main vehicle being parked at the stop line

Method used

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  • Path planning method and device, storage medium and electronic equipment
  • Path planning method and device, storage medium and electronic equipment
  • Path planning method and device, storage medium and electronic equipment

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0041] figure 1 It is a schematic flow chart of a path planning method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where a low-speed vehicle performs path planning when turning in an automatic driving scenario. The path planning device can be implemented by a path planning device, which can be implemented by software and / or hardware, and the path planning device can be configured on electronic computing devices such as vehicle controllers, mobile phones, and tablet computers.

[0042] see figure 2 , figure 2 It is a schematic diagram of an automatic driving scene provided by an embodiment of the present invention. It should be noted that, in this embodiment, the self-driving vehicle (i.e., the target object) is a low-speed vehicle. During the automatic driving process, in the case of a turning (especially a left turn) scene, its driving path is to go straight to the opposite side of the road, and After making a 90-degr...

Embodiment 2

[0072] Figure 4 It is a schematic structural diagram of a path planning device provided in Embodiment 2 of the present invention, and the device includes:

[0073] A position acquiring module 210, configured to acquire the current position of the target object and the position of the target reminder;

[0074] An auxiliary path determination module 220, configured to acquire state parameters of the target object if the target prompt is not within the detection range of the target object, and determine an auxiliary path of the target object based on the state parameters and the current position , wherein the target object is on the auxiliary path;

[0075] A critical point determination module 230, configured to determine a critical point on the auxiliary route based on the target orientation of the target object, wherein the target orientation is the orientation from the auxiliary point on the path stop line to the target reminder;

[0076] The first driving route determinat...

Embodiment 3

[0094] Figure 5 It is a schematic structural diagram of an electronic device provided by Embodiment 3 of the present invention. Figure 5 A block diagram of an electronic device 12 suitable for implementing embodiments of the invention is shown. Figure 5 The electronic device 12 shown is only an example, and should not limit the functions and scope of use of the embodiments of the present invention. Device 12 is typically an electronic device undertaking image classification functions.

[0095] Such as Figure 5 As shown, electronic device 12 takes the form of a general-purpose computing device. Components of the electronic device 12 may include, but are not limited to, one or more processors 16, a storage device 28, and a bus 18 connecting various system components (including the storage device 28 and the processor 16).

[0096] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated...

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Abstract

An embodiment of the invention discloses a path planning method and device, a storage medium and electronic equipment. The method comprises the steps of: acquiring a current position of a target object and a position of a target prompt object; if the target prompt object is not in a detection range of the target object, acquiring a state parameter of the target object, and determining an auxiliary path of the target object based on the state parameter and the current position; determining a critical point on the auxiliary path based on the target orientation of the target object, wherein the target orientation is the orientation from an auxiliary point on a path stop line to the target prompt object; and determining a driving path of the target object based on the auxiliary path and the critical point. Therefore, the path planning method and device ensure that the target prompt object enters the detection range of the target object, the prompt information of the target prompt object can be recognized, the problem that the target object stops driving due to the fact that the prompt information cannot be obtained in the turning process is avoided, and the performance of automatic driving is improved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of path planning, and in particular, to a path planning method, device, storage medium, and electronic equipment. Background technique [0002] Autonomous driving is an important research and development direction. But in the process of realizing the present invention, the inventor finds that there are at least the following technical problems in the prior art: [0003] In the process of autonomous driving, considering the layout of autonomous vehicle sensors, algorithm performance, and high-precision map data maintenance costs, it is difficult for autonomous vehicles to obtain the remaining time of the green light. Therefore, for self-driving vehicles, it is impossible to judge whether it can pass through the speed of the vehicle, the size of the intersection, and the remaining time of the green light. Therefore, there is a situation where the red light presses the line, and it i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3407G01C21/3492
Inventor 刘江江
Owner JINGDONG KUNPENG (JIANGSU) TECH CO LTD
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