Global path planning control method and device, equipment, medium and program product
A technology of global path planning and control methods, applied in the field of automatic driving, to achieve the effect of improving operating efficiency, reducing the number of nodes, and reducing planning time
Pending Publication Date: 2022-07-22
ZHEJIANG GEELY HLDG GRP CO LTD +1
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Problems solved by technology
[0005] This application provides a global path planning control method, device, equipment, media and program products to solve the technical problem of optimizing and improving the planning control of the global path in order to realize higher-level automatic driving functions
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[0077] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work, including but not limited to combinations of multiple embodiments, fall within the protection scope of the present application.
[0078] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequen...
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The invention provides a global path planning control method and device, equipment, a medium and a program product. The method comprises the following steps: acquiring a high-precision map and an initial path; judging whether the initial path passes through at least one geometric forbidden area according to a high-precision map; if yes, determining one or more pre-anchor points required for bypassing each geometric forbidden area by using a preset cost model according to the initial path and each geometric forbidden area; and optimizing and modifying the initial path into a target path by using a preset path model according to each pre-anchor point. The technical problem that the planning control of a global path needs to be optimized and improved in order to realize a higher-level automatic driving function is solved. The technical effects that the number of nodes needing to be searched during global path planning is reduced, the global path planning time is shortened, and the overall operation efficiency of the system is improved are achieved.
Description
technical field [0001] The present application relates to the field of automatic driving, and in particular, to a global path planning control method, apparatus, device, medium and program product. Background technique [0002] With the development of artificial intelligence technology, people's demand for autonomous driving and intelligent control is also increasing. For example, the electrification and intelligent technology of automobiles have brought about brand new changes. According to the classification of autonomous driving levels by SAE (Society of Automotive Engineers, American Society of Automotive Engineers), all major global OEMs (Original Equipment Manufacturers) in the automotive industry have achieved autonomous driving functions below the L2+ level. [0003] However, the L3 level and above autonomous driving functions have higher requirements on the intelligence and functions of the vehicle, and the planning and control of the global path is an important pa...
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CPCG05D1/0221
Inventor 衡阳余舒符茂磊于猛吴炳霖周勇陈勇
Owner ZHEJIANG GEELY HLDG GRP CO LTD