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Vehicle path planning method, system and equipment, and storage medium

A vehicle path and path technology, applied in the field of data processing, can solve problems such as time-consuming and unable to meet the timeliness requirements, and achieve the effect of narrowing the search space

Pending Publication Date: 2021-12-17
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the path planning algorithm for unmanned vehicles using the Cartesian coordinate system is usually time-consuming and cannot meet the timeliness requirements

Method used

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  • Vehicle path planning method, system and equipment, and storage medium
  • Vehicle path planning method, system and equipment, and storage medium
  • Vehicle path planning method, system and equipment, and storage medium

Examples

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Embodiment Construction

[0050] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0051] Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus repeated descriptions thereof will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities ...

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Abstract

The invention provides a vehicle path planning method, system and equipment, and a storage medium. The method comprises the following steps of: constructing a Cartesian coordinate system and a Frenet coordinate system in a road; determining position information of each node in a road under the Frenet coordinate system and position information of each node under the Cartesian coordinate system; in each path searching, determining current candidate path nodes based on the Frenet coordinate system; calculating the cost of each candidate path node according to the Cartesian coordinate system, and selecting the current path nodes according to the cost; and determining a planned path according to the searched path nodes. According to the vehicle path planning method, the Frenet coordinate system is utilized to describe the road trend, so that the search space is efficiently reduced, and meanwhile, the cost function is calculated by using the Cartesian coordinate system to restore the real vehicle running environment, so that the path planning efficiency is improved on the basis of ensuring the path planning accuracy.

Description

technical field [0001] The present invention relates to the technical field of data processing, in particular to a vehicle route planning method, system, device and storage medium. Background technique [0002] The current mobile robot technology is developing rapidly, and with the continuous expansion of robot application scenarios and modes in recent years, various mobile robots emerge in an endless stream, and unmanned vehicles are one of them. The current local path planning methods for unmanned vehicles are various, and most path planning algorithms are based on the Cartesian coordinate system. However, the path planning algorithm for unmanned vehicles using the Cartesian coordinate system is usually time-consuming and cannot meet the timeliness requirements. Contents of the invention [0003] In view of the problems in the prior art, the purpose of the present invention is to provide a vehicle path planning method, system, device and storage medium, which combines t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446G01C21/3453
Inventor 郑杰
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD