Passable area obstacle avoidance path planning method, system and vehicle

Abstract

This application discloses a path planning method, system, and vehicle for obstacle avoidance in passable areas. The path planning method includes: acquiring environmental information and map information along the vehicle's driving route; matching the environmental information with the map information to obtain current road information along the vehicle's driving route, wherein the current road information includes boundary line information of the vehicle's driving lane and obstacle information located in the driving lane; if an obstacle is determined to exist in the driving lane based on the obstacle information, generating a path planning scheme for the vehicle within the driving lane based on the boundary line information and the obstacle information; and controlling the vehicle to drive according to the path planning scheme to avoid the obstacle in the driving lane. This application can effectively prevent the vehicle from deviating from its lane when encountering obstacles, ensuring that the vehicle does not deviate from its original driving lane and avoids obstacles, thus improving driving safety.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a path planning method, system and vehicle for obstacle avoidance in passable areas. Background Technology

[0002] When autonomous vehicles encounter obstacles on the road, they need to use path planning to avoid them and ensure safe driving.

[0003] Existing path planning schemes typically use lane changing to avoid obstacles. However, when obstacles such as guardrails are installed on both sides of the road, vehicles need to drive around the obstacles, but they cannot deviate from their lanes to enter adjacent lanes in the same direction, otherwise it will threaten driving safety.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The main purpose of this application is to provide a path planning method, system and vehicle for obstacle avoidance in passable areas, which aims to solve the problem that in the prior art, when an obstacle appears in the driving lane of the vehicle, conventional path planning usually adopts the lane changing method, which cannot constrain the vehicle to change lanes, resulting in a large safety hazard.

[0006] The first aspect of this application provides a path planning method for obstacle avoidance in a passable area, comprising the following steps: acquiring environmental information and map information in the driving route of a vehicle; matching the environmental information with the map information to obtain current road information in the driving route of the vehicle, wherein the current road information includes boundary line information of the vehicle in the driving lane and obstacle information located in the driving lane; if it is determined that there is an obstacle in the driving lane based on the obstacle information, generating a path planning scheme for the vehicle in the driving lane based on the boundary line information and the obstacle information; controlling the vehicle to drive according to the path planning scheme to avoid the obstacle in the driving lane.

[0007] Based on the above technical means, the embodiments of this application can identify obstacles that the vehicle can avoid in the driving lane and formulate a corresponding path planning scheme. In this way, the vehicle can be controlled to avoid obstacles in the driving lane according to the path planning scheme, which can effectively prevent the vehicle from deviating from the lane when encountering obstacles, ensure that the vehicle does not deviate from the original driving lane and avoids obstacles, so as not to affect vehicles in the adjacent lanes in the same direction, thus improving driving safety.

[0008] Optionally, in one embodiment of this application, the step of obtaining environmental information and map information in the vehicle's driving route specifically includes: receiving point cloud data collected by the vehicle's sensors, processing the point cloud data to obtain a set of discrete points on the road edge in the vehicle's driving route; obtaining the vehicle's driving trajectory and positioning information, and generating map lanes in the vehicle's driving route based on the driving trajectory and the positioning information.

[0009] Based on the above technical means, the embodiments of this application can acquire a set of discrete points including the road edge when the vehicle is driving in the driving lane. Combined with the acquired high-precision map lane, it is convenient to filter the discrete point set to find the point cloud of passable area, and to analyze whether the road obstacle is an obstacle.

[0010] Optionally, in one embodiment of this application, the step of matching the environmental information with the map information to obtain the current road information in the vehicle's driving route specifically includes: filtering out the target point set and target lane of the area to be traversed in the driving lane based on the discrete point set and the map lane; and determining the lane boundary and obstacle boundary of the vehicle in the driving lane based on the target point set and the target lane.

[0011] Based on the above technical means, this application embodiment can obtain the real-time road conditions of the driving lane and the lane in the same direction after accurately matching the environmental information and the map information, so as to determine the lane boundary of the driving lane and the obstacle boundary of the road obstacle in the area where the vehicle is waiting to pass, which is convenient for subsequent judgment on whether the road obstacle is an obstacle that the vehicle can bypass, thereby ensuring the driving safety of the vehicle in the driving lane.

[0012] Optionally, in one embodiment of this application, the positioning information includes the vehicle's position; the step of generating a path planning scheme for the vehicle within the driving lane based on the boundary line information and the obstacle information specifically includes: determining a first position and a second position of the obstacle along the driving lane based on the vehicle's position, the lane boundary, and the obstacle boundary; obtaining a first lateral distance corresponding to the first position and a second lateral distance corresponding to the second position based on the first position, the second position, and the lane boundary; and determining the direction in which the vehicle deviates from the obstacle in the driving lane if the first lateral distance is greater than the second lateral distance.

[0013] Based on the aforementioned technical means, this application embodiment can determine whether a road obstacle entering the driving lane is a protective facility or another obstacle that the vehicle can bypass to continue driving in the driving lane. This ensures that the vehicle can continue driving without changing lanes, avoiding situations where the vehicle deviates from the lane to bypass the obstacle, thus preventing potential safety hazards. After determining that the road obstacle is an obstacle, the lateral distances at both ends of a detection interval a certain distance in front of the vehicle are detected in real time. When the vehicle is driving in the driving lane, path planning is performed based on the magnitude of the first and second lateral distances to ensure that the vehicle bypasses the obstacle when it reaches the first and second positions in the driving lane, and to ensure that the vehicle does not deviate from the driving lane, thereby improving the vehicle's driving safety.

[0014] Optionally, in one embodiment of this application, the step of determining that the vehicle is deviating from the obstacle in the driving lane if the first lateral distance is less than the second lateral distance further includes: updating the vehicle's body position, the lane boundary, and the obstacle boundary in the driving lane to obtain updated current vehicle body position, current lane boundary, and current obstacle boundary; determining the third and fourth positions of the obstacle along the driving lane based on the current vehicle body position, current lane boundary, and current obstacle boundary; obtaining the third lateral distance corresponding to the third position and the fourth lateral distance corresponding to the fourth position based on the third position, the fourth position, and the lane boundary; and determining that the vehicle is deviating from the obstacle in the driving lane if the third lateral distance is less than the fourth lateral distance.

[0015] Based on the above technical means, after the vehicle in this application embodiment drives according to the path planning scheme formulated when an obstacle appears or the area where the obstacle enters the driving lane increases, it formulates a path planning method again when the obstacle area disappears or the area where the obstacle enters the driving lane decreases. In other words, the path planning scheme is adjusted in real time according to the distance detected by the vehicle ahead, so as to ensure that the vehicle bypasses the obstacle and drives in the lane, thereby not deviating from the original lane, reducing safety hazards and improving driving safety.

[0016] Optionally, in one embodiment of this application, determining that the vehicle is deviating from the obstacle in the driving lane if the first lateral distance is greater than the second lateral distance specifically includes: calculating the difference between the first lateral distance and the second lateral distance; and determining the amount of deviation of the vehicle from the obstacle in the driving lane based on the first position, the second position, and the difference.

[0017] Based on the above technical means, the embodiments of this application can determine the amount of steering wheel offset that the vehicle needs to control in the driving lane, so as to ensure that the vehicle deflects its direction before reaching the first position of the driving lane, avoids collision with obstacles, and ensures that the vehicle does not deviate from the driving lane while avoiding obstacles.

[0018] Optionally, in one embodiment of this application, the current road information further includes the position, direction, and speed of the adjacent vehicle in the same direction lane beside the vehicle; the path planning method for obstacle avoidance in the passable area further includes: filtering out a dynamic point set of adjacent vehicles in the same direction lane beside the driving lane based on the discrete point set and the map lane; obtaining the position, direction, and speed of the adjacent vehicle in the same direction lane based on the dynamic point set; generating a predicted trajectory of the adjacent vehicle based on the adjacent vehicle position, direction, and speed; obtaining the current speed of the vehicle, and determining the planned speed of the vehicle when it deviates from the obstacle in the driving lane based on the vehicle's position, current speed, offset, and the predicted trajectory of the adjacent vehicle.

[0019] Based on the aforementioned technical means, the embodiments of this application can predict the trajectory of vehicles in the same direction lane, thereby facilitating the adjustment of the vehicle speed in subsequent path planning, preventing collisions between the vehicle and other vehicles in the same direction when avoiding obstacles, and improving the driving safety of the vehicle; considering the direction, speed, and position of the vehicles in the same direction lane, the position and time of the vehicles passing by obstacles laterally are predicted, and the vehicle speed is used to determine whether it will affect the vehicles in the same direction if the speed remains unchanged, thereby determining the speed change of the vehicle, ensuring that the vehicle avoids obstacles, does not deviate from the driving lane, and does not pose a safety hazard to vehicles in the same direction lane, thereby improving the driving safety of the vehicle.

[0020] A second aspect of this application provides a path planning system for obstacle avoidance in passable areas. The system includes: a data acquisition module for acquiring environmental information and map information along a vehicle's driving route; an information matching module for matching the environmental information with the map information to obtain current road information along the vehicle's driving route, wherein the current road information includes boundary line information of the vehicle's driving lane and obstacle information located in the driving lane; a path generation module for generating a path planning scheme for the vehicle within the driving lane if an obstacle is determined to exist in the driving lane based on the obstacle information, and based on the boundary line information and the obstacle information; and an obstacle avoidance driving module for controlling the vehicle to drive according to the path planning scheme to avoid the obstacle in the driving lane.

[0021] Optionally, in one embodiment of this application, the data acquisition module includes: a point cloud processing unit and a map acquisition unit; wherein, the point cloud processing unit is used to receive point cloud data collected by the vehicle's sensors and process the point cloud data to obtain a set of discrete points on the road edges in the vehicle's driving route. The map acquisition unit is used to acquire the vehicle's driving trajectory and positioning information, and generate map lanes in the vehicle's driving route based on the driving trajectory and the positioning information.

[0022] Optionally, in one embodiment of this application, the information matching module includes: a target filtering unit and a boundary determination unit; wherein, the target filtering unit is used to filter out a set of target points and a target lane in the driving lane based on the set of discrete points and the map lane; the boundary determination unit is used to determine the lane boundary and obstacle boundary of the vehicle in the driving lane based on the set of target points and the target lane.

[0023] Optionally, in one embodiment of this application, the positioning information includes the vehicle body position; the path generation module includes: a position determination unit, a distance calculation unit, and a path planning unit; wherein, the position determination unit is used to determine a first position and a second position of the obstacle along the direction of the driving lane based on the vehicle body position, the lane boundary, and the obstacle boundary; the distance calculation unit is used to obtain a first lateral distance corresponding to the first position and a second lateral distance corresponding to the second position based on the first position, the second position, and the lane boundary; the path planning unit is used to determine the direction in which the vehicle deviates from the obstacle in the driving lane if the first lateral distance is greater than the second lateral distance.

[0024] Optionally, in one embodiment of this application, the path planning system for obstacle avoidance in passable areas further includes an information update unit, a current position determination unit, a current distance calculation unit, and a current path planning unit; the information update unit is used to update the vehicle's position, the lane boundary, and the obstacle boundary in the driving lane, respectively, to obtain updated current vehicle position, current lane boundary, and current obstacle boundary; the current position determination unit is used to determine the third and fourth positions of the obstacle along the driving lane based on the current vehicle position, the current lane boundary, and the current obstacle boundary; the current distance calculation unit is used to obtain the third lateral distance corresponding to the third position and the fourth lateral distance corresponding to the fourth position based on the third position, the fourth position, and the lane boundary; the current path planning unit is used to determine the direction of the vehicle towards the side where the obstacle exists in the driving lane if the third lateral distance is less than the fourth lateral distance. Optionally, in one embodiment of this application, the path planning unit includes: a difference calculation subunit and an offset design subunit; wherein, the difference calculation subunit is used to calculate the difference between the first lateral distance and the second lateral distance; the offset design subunit is used to determine the offset amount of the vehicle's direction of deviation from the obstacle in the driving lane based on the first position, the second position, and the difference; Optionally, in one embodiment of this application, the current road information further includes the position, direction, and speed of a vehicle in the same direction lane next to the vehicle; the path planning system for obstacle avoidance in passable areas further includes a vehicle determination unit, a vehicle position unit, a vehicle prediction unit, and a speed unit. The planning unit includes: a vehicle identification unit, configured to filter a dynamic set of points of vehicles in the same direction beside the driving lane based on the discrete point set and the map lanes; a vehicle position unit, configured to obtain the vehicle position, direction, and speed of the vehicles in the same direction based on the dynamic point set; a vehicle prediction unit, configured to generate a predicted trajectory of the vehicles based on the vehicle position, direction, and speed; and a speed planning unit, configured to obtain the current speed of the vehicle and determine the planned speed of the vehicle when it deviates from the obstacle in the driving lane based on the vehicle's position, current speed, offset, and the predicted trajectory of the vehicles.

[0025] A third aspect of this application provides a vehicle, the vehicle comprising: a memory, a processor, and a path planning program stored in the memory and executable on the processor, wherein when the path planning program is executed by the processor, it implements the steps of the path planning method for obstacle avoidance in passable areas as described in the above embodiments.

[0026] A fourth aspect of this application provides a computer-readable storage medium storing a path planning program that, when executed by a processor, implements the steps of the path planning method for obstacle avoidance in passable areas as described in the above embodiments.

[0027] The beneficial effects of this application are: (1) The embodiments of this application can determine whether the road obstacle entering the driving lane is a protective facility or other obstacle that the vehicle can bypass to continue driving in the driving lane, thereby determining that the vehicle can continue driving without changing lanes, avoiding the situation where the vehicle deviates from the lane to bypass the obstacle and causes safety hazards. After determining that the road obstacle is an obstacle, the lateral distance at both ends of the detection spacing a certain distance in front of the vehicle is detected in real time. When the vehicle is driving in the driving lane, the path is planned according to the size of the first lateral distance and the second lateral distance, so that the vehicle can bypass the obstacle when it reaches the first position and the second position in the driving lane, and ensure that the vehicle does not deviate from the driving lane, thereby improving the driving safety of the vehicle.

[0028] (2) In this embodiment of the application, after the vehicle has driven according to the path planning scheme formulated when the obstacle appears or the obstacle enters the driving lane area, it formulates a path planning method again when the obstacle area disappears or the obstacle enters the driving lane area. That is to say, the path planning scheme is adjusted in real time according to the distance detected by the vehicle ahead, so as to ensure that the vehicle bypasses the obstacle and drives in the lane, thereby not deviating from the original lane, reducing safety hazards and improving driving safety.

[0029] (3) The embodiments of this application can predict the trajectory of vehicles in the same direction lane, thereby facilitating the adjustment of the vehicle speed in subsequent path planning, so as to prevent the vehicle from colliding with vehicles in the same direction when avoiding obstacles, thus improving the driving safety of the vehicle. Considering the direction, speed and position of the vehicles in the same direction lane, the position and time of the vehicles passing the obstacles laterally are predicted, and the vehicle speed is determined based on the current speed of the vehicle to determine whether it will affect the vehicles in the same direction when the speed remains unchanged, thereby determining the speed change of the vehicle, so as to ensure that the vehicle avoids obstacles, does not deviate from the driving lane, and does not cause safety hazards with vehicles in the same direction lane, thereby improving the driving safety of the vehicle.

[0030] (4) The embodiments of this application can identify obstacles that the vehicle can avoid in the driving lane and formulate a corresponding path planning scheme. In this way, the vehicle can be controlled to avoid obstacles in the driving lane according to the path planning scheme. This can effectively prevent the vehicle from deviating from the lane when it encounters obstacles, ensure that the vehicle does not deviate from the original driving lane and avoids obstacles, so as not to affect vehicles in the same direction on the side, thus improving driving safety.

[0031] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart of a preferred embodiment of the path planning method for obstacle avoidance in passable areas according to this application; Figure 2 This is a schematic diagram of a preferred embodiment of the path planning method for obstacle avoidance in the passable area of ​​this application, in which the vehicle and the target vehicle simultaneously change lanes to the middle lane. Figure 3 This is a schematic diagram of a preferred embodiment of the path planning system of this application; Figure 4 This is a structural schematic diagram of a preferred embodiment of the vehicle described in this application.

[0034] Among them, 10-path planning system; 100-data acquisition module, 200-information matching module, 300-path generation module, 400-obstacle avoidance driving module; 501-memory, 502-processor, 503-communication interface. Detailed Implementation

[0035] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0036] When autonomous vehicles encounter obstacles on the road, they need to use path planning to avoid them and ensure safe driving. Existing path planning schemes typically use lane changing to avoid obstacles. However, when guardrails on either side of the road are special obstacles, the vehicle needs to maneuver around them without deviating from its lane, otherwise it would threaten driving safety. It's understandable that these obstacles can be protective facilities such as guardrails. The purpose of guardrails in the driving lane is for safety protection, not to restrict vehicle movement within the lane. In fact, if an autonomous vehicle changes lanes to avoid an obstacle, it could easily create a safety hazard. The obstacles are not limited to protective facilities like guardrails; they can also be other obstacles that do not affect the vehicle's movement within the driving lane—that is, ordinary obstacles that can be avoided while continuing to drive within the driving lane.

[0037] The following description, with reference to the accompanying drawings, describes a path planning method, system, and vehicle for obstacle avoidance in passable areas according to embodiments of this application. Addressing the problem mentioned in the background art where conventional path planning typically employs lane changing when an obstacle appears in the vehicle's driving lane, which fails to constrain lane changes and thus reduces driving safety, this application provides a path planning method for obstacle avoidance in passable areas. This method identifies obstacles that the vehicle can avoid in its driving lane and formulates a corresponding path planning scheme. By controlling the vehicle to avoid obstacles according to the path planning scheme, it effectively prevents the vehicle from deviating from its lane when encountering obstacles, ensuring that the vehicle avoids obstacles and does not interfere with vehicles in adjacent lanes traveling in the same direction, thereby improving driving safety. Thus, this solves the technical problem in the related art where conventional path planning typically employs lane changing when an obstacle appears in the vehicle's driving lane, which fails to constrain lane changes and thus reduces driving safety.

[0038] In this embodiment, while the vehicle is driving in the driving lane, the information collected by the vehicle is matched with the lane information on a high-precision map to obtain real-time information on the driving lane and the lanes in the same direction (detecting a certain distance in front of the vehicle and possibly a certain distance behind the vehicle). Other vehicles in the lanes in the same direction adjacent to the driving lane are traveling in the same direction as the vehicle. If an obstacle that can be avoided in the driving lane (such as a special obstacle barrier or a regular obstacle) is identified in the real-time information, a path planning scheme is formulated based on the vehicle's position and the area to be traversed in the driving lane. This allows the vehicle to deflect its steering wheel in the area to be traversed to avoid the obstacle, and to straighten its direction after deflecting away from the obstacle to continue driving, thus avoiding affecting the driving of vehicles in the same direction and improving driving safety.

[0039] Specifically, Figure 1This is a flowchart illustrating a path planning method for obstacle avoidance in passable areas provided in an embodiment of this application.

[0040] like Figure 1 As shown, the path planning method for obstacle avoidance in passable areas includes the following steps: In step S101, environmental information and map information along the vehicle's driving route are obtained.

[0041] It should be noted that the path planning system in this embodiment operates in a scenario where the vehicle is traveling in a lane, and there are adjacent lanes traveling in the same direction, where all vehicles in those lanes and the vehicle itself are moving along the map's lane direction; for example... Figure 2 As shown, the vehicle is an Ego car, and the lane it is in is the driving lane. The adjacent lanes are lanes in the same direction, and vehicles can travel in the lanes in the same direction.

[0042] In one implementation, the environmental information is a set of discrete points, and the map information is a map lane. While the vehicle is traveling within the driving lane, its onboard sensors perceive the environment from multiple directions (front, back, left, right) within a preset height range along the lane direction, including lanes and obstacles. Specifically, onboard sensors located around the vehicle collect point cloud data corresponding to the driving lane, lanes traveling in the same direction, and obstacles within the driving lane (obstacles include those the vehicle can avoid in the driving lane and those it cannot avoid in its lane). The path planning system receives the point cloud data (corresponding to the driving lane, lanes traveling in the same direction, and obstacles within the driving lane) collected by the vehicle sensors and processes the point cloud data to obtain a set of discrete points representing the road edges (such as the edges of obstacles entering the driving lane and the edges of the driving lane) along the vehicle's route. The system acquires the vehicle's driving trajectory and positioning information (e.g., via a vehicle GPS positioning system) and generates a map lane along the vehicle's route based on the driving trajectory and positioning information (this map lane is a high-precision map capable of accurately identifying the lane line positions, lane widths, and lane directions of the driving lane and lanes traveling in the same direction).

[0043] Furthermore, environmental perception is achieved through onboard sensors, that is, by using at least one of the sensors installed on the vehicle, such as cameras, lidar, and millimeter-wave radar, to perceive the environment around the vehicle. First, point clouds with a height higher than a predetermined height above the horizon are selected to generate point cloud data including roads and obstacles. Then, the point cloud data is segmented and trained using algorithms such as deep learning to generate a set of discrete points including driving lanes, lanes in the same direction, and road obstacles in the driving lanes.

[0044] Furthermore, 4D millimeter-wave radar can be used, which has a wider detection range and can distinguish obstacles by height. The XYZ three-coordinate obstacle position output mode makes it easier for vehicles to identify guardrails and other protective facilities.

[0045] In other words, the embodiments of this application can acquire a set of discrete points including the road edge (i.e., the driving lane, the lane in the same direction, and road obstacles in the driving lane) when the vehicle is driving in the driving lane. Combined with the acquired high-precision map lane, it is convenient to filter the discrete point set to select the point cloud of the passable area, and to analyze whether the road obstacle is an obstacle (so that the vehicle can bypass it in the driving lane).

[0046] In step S102, the environmental information is matched with the map information to obtain the current road information in the vehicle's driving route. The current road information includes the boundary line information of the vehicle in the driving lane and the obstacle information located in the driving lane.

[0047] In one implementation, the boundary line information includes lane boundaries, and the obstacle information includes obstacle boundaries. Based on the discrete point set and the map lanes, environmental reconstruction is performed, reconstructing the environment around the vehicle (from the farthest point that the sensors can collect to the vehicle) into an environmental model. This environmental model includes a road model (roads and boundaries of the driving lane and lanes in the same direction) and a road obstacle model. Based on the reconstructed environmental model, a drivable area (a discrete obstacle point data set in FreeSpace of the drivable area, a point set in the vehicle's coordinate system, and an area located in front of the vehicle within a preset distance range including the driving lane and lanes in the same direction) is generated using a FreeSpace generation algorithm. Figure 2 The area within the longitudinal distance S in the right half of the driving lane is used to filter out the set of target points in the area to be traversed (i.e., Figure 2 The system uses all valid fs points in the map and the target lane (i.e., the driving lane and the lane in the same direction within a preset distance range in front of the vehicle). In other words, the discrete point set is filtered to obtain the target point set of the area to be passed in the driving lane, and the map lanes are filtered according to the target point set to obtain the target lane. Then, based on the target point set and the target lane, the lane boundary of the vehicle in the driving lane and the obstacle boundary of the obstacle are determined, so as to determine whether the distance between the corresponding lane boundary and the obstacle boundary allows the vehicle (with a certain width) to pass.

[0048] Furthermore, the point cloud obtained after the first screening is compared with the horizontal range of the driving lane in the high-precision map. A second screening is then performed to identify obstacle point clouds whose horizontal coordinates fall within the driving lane. These obstacle point clouds are then compared with the driving lane in the map, and those entering the driving lane are marked. The marked obstacle point clouds are then fused to obtain the roadblocks within the driving lane. Through the first and second screenings, obstacles are initially screened by height, and the high-precision map data is used to match the road range.

[0049] It should be noted that, after accurately matching environmental information with map information, this application embodiment can obtain the real-time road conditions (lanes, obstacles) of the driving lane and the same-direction lane, so as to determine the lane boundary of the driving lane and the obstacle boundary of the obstacle in the area where the vehicle is waiting to pass, which is convenient for subsequent judgment on whether the obstacle is an obstacle that the vehicle can bypass, thereby ensuring the driving safety of the vehicle in the driving lane.

[0050] In one implementation, the current road information also includes the position, direction, and speed of adjacent vehicles in the same direction lane beside the vehicle, which is capable of identifying the driving situation of vehicles in the same direction lane in the area to be traversed. Based on the discrete point set and the map lanes, the point cloud after the first filtering is compared with the horizontal range of the driving lanes in the high-precision map, and then the point cloud of adjacent vehicles with horizontal coordinates located in the same direction lane is filtered a second time. In the second-filtered adjacent vehicle point cloud, obstacle point clouds whose relative speed to the vehicle is lower than the actual speed of the vehicle are marked, and the obstacle is then passed. The relative speed between the object and the vehicle is compared with the vehicle's speed to exclude other vehicles in motion and filter out the dynamic point set of vehicles in the same direction next to the driving lane. Based on the dynamic point set, the marked obstacle point cloud is fused, that is, the obstacle point clouds with coordinates within a predetermined range in the horizontal and vertical directions and with the same speed are fused to obtain the vehicle. The relative speed and center of the vehicle with respect to the vehicle are calculated, and the acceleration of the vehicle is measured in a predetermined number of consecutive frames to obtain the vehicle's position, driving direction and speed in the same direction lane.

[0051] It should be noted that the embodiments of this application can predict the trajectory of vehicles in the same direction lane, thereby facilitating the adjustment of the vehicle speed in subsequent path planning, so as to prevent the vehicle from colliding with vehicles in the same direction when avoiding obstacles, thus improving the driving safety of the vehicle.

[0052] In step S103, if it is determined that there is an obstacle in the driving lane based on the obstacle information, a path planning scheme for the vehicle in the driving lane is generated based on the boundary line information and the obstacle information.

[0053] Understandably, based on FreeSpace path planning, a drivable path is generated in the generated FreeSpace using a path planning algorithm, and the trajectory that the vehicle will travel is planned laterally, and the vehicle travels along that trajectory.

[0054] In one implementation, the roadblock is compared with protective facilities (such as guardrails) to determine that the roadblock is an obstacle; or, if the distance between the lane boundary of the driving lane and the obstacle boundary of the roadblock is greater than a preset width (greater than the width of the vehicle, such as 1.2 times the vehicle width), the roadblock is determined to be an obstacle.

[0055] It should be noted that the embodiments of this application can determine whether the road obstacle entering the driving lane is a protective facility (such as a guardrail) or other obstacle that the vehicle can bypass to continue driving in the driving lane, thereby determining that the vehicle can continue driving without changing lanes, thus avoiding the situation where the vehicle deviates from the lane to bypass the obstacle, which may lead to safety hazards.

[0056] In one implementation, the positioning information includes the vehicle position; based on the vehicle position, the lane boundary, and the obstacle boundary, a first position and a second position of the obstacle along the driving lane are determined; based on the first position, the second position, and the lane boundary, a first lateral distance corresponding to the first position and a second lateral distance corresponding to the second position are obtained; if the first lateral distance is greater than the second lateral distance, the direction in which the vehicle deviates from the obstacle in the driving lane is determined.

[0057] Specifically, after determining that the roadblock is an obstacle, proceed along the direction of your vehicle's driving lane (e.g., Figure 2 Vertically upwards (i.e., in front), a first position on the lane boundary (which can be on the lane boundary or the obstacle boundary) and a second position on the obstacle boundary (the second position is in front of the first position) are determined, and the vertical distance between the first position and the second position is a set detection interval. The distance between the position of the first position on the obstacle boundary or the lane boundary corresponding to the lane boundary of the driving lane and the first position is the first lateral distance (perpendicular to the direction of the driving lane). The distance between the position of the second position on the lane boundary corresponding to the driving lane and the second position is the second lateral distance. When it is determined that the first lateral distance is greater than the second lateral distance, it indicates that an obstacle has just appeared in front of the vehicle or the area where the obstacle enters the driving lane has increased. Thus, the path planning scheme is determined to be that the vehicle deviates in the direction away from the obstacle in the driving lane so that the vehicle can bypass the obstacle when passing the first and second positions of the obstacle.

[0058] In other words, after determining that the roadblock is an obstacle, the system detects the lateral distances (first lateral distance and second lateral distance) at both ends of a certain distance in front of the vehicle in real time. When the vehicle is driving in the driving lane, it plans its path based on the magnitude of the first and second lateral distances so that the vehicle can avoid the obstacle when it reaches the first and second positions in the driving lane, and ensures that the vehicle will not deviate from the driving lane, thereby improving the driving safety of the vehicle.

[0059] In one implementation, the difference between the first lateral distance and the second lateral distance is calculated; based on the first position, the second position, and the difference, the offset amount of the vehicle in the direction of deviating from the obstacle in the driving lane is determined.

[0060] Furthermore, after determining that the first lateral distance is greater than the second lateral distance, the difference between the two lateral distances is calculated. Then, based on the current vehicle position, the difference, the first position, and the second position, the amount of steering wheel offset that the vehicle needs to control in the driving lane is determined to ensure that the vehicle deflects its direction before reaching the first position in the driving lane, avoiding collisions with obstacles, so that the vehicle avoids obstacles while ensuring that the vehicle does not deviate from the driving lane.

[0061] In one implementation, a predicted trajectory of the adjacent vehicle is generated based on the adjacent vehicle's position, direction, and speed; the current speed of the vehicle is obtained, and a planned speed is determined based on the vehicle's position, current speed, offset, and the adjacent vehicle's predicted trajectory when the vehicle deviates from the obstacle in the driving lane.

[0062] Specifically, after identifying a vehicle (side vehicle) traveling in the same direction in the same lane, and determining the position, direction (front direction) and speed of the side vehicle, a predicted trajectory of the side vehicle is formed. The time and position of the side vehicle when it passes the obstacle in the driving lane are determined. It is then determined whether the vehicle may affect the side vehicle when it deviates to avoid the obstacle at its current speed. If it is determined that there may be an impact, the vehicle speed is controlled to slow down.

[0063] In other words, considering the direction, speed, and position of vehicles in the same direction, the system predicts the position and time when a vehicle passes an obstacle laterally (while driving normally in the same direction and passing perpendicularly to the driving lane). Based on the vehicle's current speed, it determines whether the vehicle will affect the other vehicle if the speed remains constant (i.e., the two vehicles are close together). This helps determine the vehicle's speed changes (whether the vehicle's speed remains constant or decreases) to ensure that the vehicle avoids obstacles, does not deviate from the driving lane, and does not pose a safety hazard to other vehicles in the same direction, thereby improving the vehicle's driving safety.

[0064] In one implementation, the vehicle's position, lane boundary, and obstacle boundary in the driving lane are updated to obtain updated current vehicle position, lane boundary, and obstacle boundary. Based on the current vehicle position, lane boundary, and obstacle boundary, a third and fourth position of the obstacle along the driving lane are determined. Based on the third and fourth positions and the lane boundary, a third lateral distance corresponding to the third position and a fourth lateral distance corresponding to the fourth position are obtained. If the third lateral distance is less than the fourth lateral distance, the direction of the vehicle towards the side where the obstacle exists in the driving lane is determined.

[0065] Specifically, after passing the obstacle and entering the position with the largest lateral distance in the driving lane, it is necessary to control the vehicle to straighten the direction and the offset to make the vehicle's path basically the same as before avoiding the obstacle. It is important to note that the straightening time can be done in real time (corresponding to the vehicle's real-time deviation) or after continuing to drive away from the obstacle, the straightening can be done again.

[0066] After determining that the roadblock is an obstacle, proceed along the direction of your vehicle's lane (e.g., Figure 2 Vertically upwards (i.e., in front), determine the third position and the fourth position on the obstacle boundary (the fourth position is in front of the third position, and this fourth position can be on the lane boundary or the obstacle boundary). The longitudinal distance between the third position and the fourth position is the set detection interval. The distance between the position of the third position on the obstacle boundary and the position of the lane boundary of the driving lane is the third lateral distance. The distance between the position of the fourth position and the position of the lane boundary or obstacle boundary of the driving lane is the fourth lateral distance. When it is determined that the third lateral distance is less than the fourth lateral distance, it means that the obstacle in front of the vehicle has disappeared or the area where the obstacle enters the driving lane has decreased. Thus, the path planning scheme is determined to be that the vehicle deviates in the direction of the obstacle in the driving lane, so that the vehicle can bypass the obstacle when passing the third and fourth positions of the obstacle, and ensure that the lateral distance between the vehicle and the lane in the same direction is reduced, thereby ensuring the driving safety of the vehicle.

[0067] It is understood that in this embodiment, the longitudinal distance between the second position and the first position is equal to the longitudinal distance between the fourth position and the third position (this longitudinal distance is the set detection spacing).

[0068] It should be noted that, in this embodiment of the application, after the vehicle has traveled according to the path planning scheme formulated when an obstacle appears or the area of ​​the obstacle entering the driving lane increases, it formulates a path planning method again when the obstacle area disappears or the area of ​​the obstacle entering the driving lane decreases. In other words, the path planning scheme is adjusted in real time according to the distance detected by the vehicle ahead, so as to ensure that the vehicle bypasses the obstacle (such as the guardrail) and travels within the lane, thereby not deviating from the original lane, reducing safety hazards and improving driving safety.

[0069] In step S104, the vehicle is controlled to travel according to the path planning scheme in order to avoid the obstacle in the driving lane.

[0070] Understandably, after each path planning scheme is determined, the vehicle controls its speed and steering wheel yaw according to the scheme. When the vehicle needs to pass an obstacle, it needs to formulate at least two path planning schemes: one for deflecting the direction to avoid the obstacle and the other for straightening the direction, to ensure the vehicle's driving safety in the driving lane.

[0071] In summary, the embodiments of this application can identify obstacles that the vehicle can avoid in the driving lane and formulate a corresponding path planning scheme. By controlling the vehicle to avoid obstacles in the driving lane according to the path planning scheme, it can effectively prevent the vehicle from deviating from the lane when encountering obstacles, ensure that the vehicle does not deviate from the original driving lane and avoids obstacles, and thus will not affect vehicles in the adjacent lanes in the same direction, thereby improving driving safety.

[0072] Next, the path planning system proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0073] Figure 3 This is a block diagram of the path planning system according to an embodiment of this application.

[0074] like Figure 3 As shown, the path planning system 10 includes: a data acquisition module 100, an information matching module 200, a path generation module 300, and an obstacle avoidance driving module 400.

[0075] Specifically, the data acquisition module 100 is used to acquire environmental information and map information along the vehicle's driving route; The information matching module 200 is used to match the environmental information with the map information to obtain the current road information in the vehicle's driving route, wherein the current road information includes the boundary line information of the vehicle in the driving lane and the obstacle information located in the driving lane; The path generation module 300 is used to generate a path planning scheme for the vehicle in the driving lane if it is determined that there is an obstacle in the driving lane based on the obstacle information, based on the boundary line information and the obstacle information. The obstacle avoidance driving module 400 is used to control the vehicle to drive according to the path planning scheme in order to avoid the obstacles in the driving lane.

[0076] Optionally, in one embodiment of this application, the data acquisition module 100 includes: a point cloud processing unit and a map acquisition unit.

[0077] The point cloud processing unit is used to receive point cloud data collected by the vehicle's sensors and process the point cloud data to obtain a set of discrete points on the road edge in the vehicle's driving route.

[0078] The map acquisition unit is used to acquire the vehicle's driving trajectory and location information, and generate map lanes in the vehicle's driving route based on the driving trajectory and location information.

[0079] Optionally, in one embodiment of this application, the information matching module 200 includes: a target filtering unit and a boundary determination unit.

[0080] The target filtering unit is used to filter out the set of target points and the target lanes of the area to be traversed in the driving lane based on the set of discrete points and the map lanes.

[0081] The boundary determination unit is used to determine the lane boundary and obstacle boundary of the vehicle in the driving lane based on the target point set and the target lane.

[0082] Optionally, in one embodiment of this application, the positioning information includes the vehicle's position; the path generation module 300 includes: a position determination unit, a distance calculation unit, and a path planning unit.

[0083] The position determination unit is used to determine the first position and the second position of the obstacle along the direction of the driving lane based on the vehicle position, the lane boundary and the obstacle boundary.

[0084] The distance calculation unit is used to obtain a first lateral distance corresponding to the first position and a second lateral distance corresponding to the second position based on the first position, the second position and the lane boundary.

[0085] A path planning unit is used to determine the direction in which the vehicle deviates from the obstacle in the driving lane if the first lateral distance is greater than the second lateral distance.

[0086] Optionally, in one embodiment of this application, the path planning system for obstacle avoidance in passable areas further includes an information update unit, a current location determination unit, a current distance calculation unit, and a current path planning unit; The information update unit is used to update the vehicle body position, the lane boundary and the obstacle boundary of the vehicle in the driving lane, respectively, to obtain the updated current vehicle body position, current lane boundary and current obstacle boundary. The current position determination unit is used to determine the third and fourth positions of the obstacle along the direction of the driving lane based on the current position of the vehicle body, the current boundary of the lane, and the current boundary of the obstacle. The distance calculation unit is used to obtain the third lateral distance corresponding to the third position and the fourth lateral distance corresponding to the fourth position based on the third position, the fourth position and the lane boundary; The current path planning unit is used to determine the direction of the vehicle toward the side where the obstacle exists in the driving lane if the third lateral distance is less than the fourth lateral distance.

[0087] Optionally, in one embodiment of this application, the path planning unit includes: a difference calculation subunit and an offset design subunit; The difference calculation subunit is used to calculate the difference between the first lateral distance and the second lateral distance. An offset design subunit is used to determine the offset amount of the vehicle's direction of deviation from the obstacle in the driving lane based on the first position, the second position, and the difference. Optionally, in one embodiment of this application, the current road information further includes the position, direction, and speed of a vehicle in the same direction lane next to the vehicle; the path planning system for obstacle avoidance in the passable area further includes a vehicle determination unit, a vehicle position unit, a vehicle prediction unit, and a speed planning unit. The adjacent vehicle determination unit is used to filter out the dynamic point set of adjacent vehicles in the same direction located next to the driving lane based on the discrete point set and the map lane. The vehicle position unit is used to obtain the vehicle position, vehicle direction and vehicle speed of the vehicle in the same direction lane based on the dynamic point set. The vehicle-stopping prediction unit is used to generate a predicted trajectory for the vehicle-stopping vehicle based on its position, direction, and speed. The speed planning unit is used to obtain the current speed of the vehicle and, based on the vehicle's position, current speed, offset, and the predicted trajectory of the adjacent vehicle, determine the planned speed of the vehicle when it deviates from the obstacle in the driving lane.

[0088] It should be noted that the explanation of the path planning method embodiment for obstacle avoidance in passable areas described above also applies to the path planning system of this embodiment, and will not be repeated here.

[0089] The path planning system proposed in this application can identify obstacles that the vehicle can avoid in the driving lane and formulate a corresponding path planning scheme. The system can control the vehicle to avoid obstacles in the driving lane according to the path planning scheme, effectively preventing the vehicle from deviating from the lane when encountering obstacles, ensuring that the vehicle does not deviate from the original driving lane and avoids obstacles, thus not affecting vehicles in the adjacent lanes in the same direction, and improving driving safety.

[0090] This solves the technical problem in related technologies where, when an obstacle appears in the vehicle's lane, conventional path planning typically uses lane changing, which cannot constrain the vehicle's lane-changing behavior, thus hindering improved driving safety.

[0091] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include: The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0092] When the processor 502 executes the program, it implements the path planning method for obstacle avoidance in passable areas provided in the above embodiments.

[0093] Furthermore, the vehicle also includes: Communication interface 503 is used for communication between memory 501 and processor 502.

[0094] The memory 501 is used to store computer programs that can run on the processor 502.

[0095] Memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0096] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EIS) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0097] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0098] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0099] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described path planning method for obstacle avoidance in passable areas.

[0100] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0101] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0102] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0103] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable storage medium could be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0104] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0105] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0106] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

Claims

1. A path planning method for obstacle avoidance in passable areas, characterized in that, The path planning method for obstacle avoidance in the passable area includes: Obtain environmental and map information along the vehicle's driving route; The environmental information is matched with the map information to obtain the current road information in the vehicle's driving route. The current road information includes the boundary line information of the vehicle in the driving lane and the obstacle information located in the driving lane. If it is determined that there is an obstacle in the driving lane based on the obstacle information, a path planning scheme for the vehicle in the driving lane is generated based on the boundary line information and the obstacle information. Control the vehicle to travel according to the path planning scheme in order to avoid the obstacles in the driving lane; The boundary line information includes lane boundaries, and the obstacle information includes obstacle boundaries; Obtain the vehicle's location information, including the vehicle's position; The step of generating a path planning scheme for the vehicle within the driving lane based on the boundary line information and the obstacle information specifically includes: Based on the vehicle position, the lane boundary, and the obstacle boundary, a first position and a second position of the obstacle along the driving lane are determined, wherein the second position is in front of the first position, and the longitudinal distance between the first position and the second position is a set detection interval. Based on the first position, the second position, and the lane boundary, the first lateral distance corresponding to the first position and the second lateral distance corresponding to the second position are obtained; If the first lateral distance is greater than the second lateral distance, it is determined that the vehicle is deviating in the direction away from the obstacle in the driving lane.

2. The path planning method for obstacle avoidance in passable areas according to claim 1, characterized in that, The acquisition of environmental and map information along the vehicle's driving route specifically includes: Receive point cloud data collected by the vehicle's sensors and process the point cloud data to obtain a set of discrete points on the road edge in the vehicle's driving route. The vehicle's driving trajectory is obtained, and a map lane is generated in the vehicle's driving route based on the driving trajectory and the positioning information.

3. The path planning method for obstacle avoidance in passable areas according to claim 2, characterized in that, The step of matching the environmental information with the map information to obtain the current road information in the vehicle's driving route specifically includes: Based on the set of discrete points and the map lanes, filter out the set of target points and target lanes for the area to be traversed in the driving lanes; Based on the set of target points and the target lane, determine the lane boundary and obstacle boundary of the vehicle in the driving lane.

4. The path planning method for obstacle avoidance in passable areas according to claim 1, characterized in that, If the first lateral distance is greater than the second lateral distance, and it is determined that the vehicle is deviating in the direction away from the obstacle in the driving lane, the process further includes: The vehicle's position, lane boundary, and obstacle boundary in the driving lane are updated respectively to obtain the updated current vehicle position, lane boundary, and obstacle boundary; Based on the current position of the vehicle body, the current boundary of the lane, and the current boundary of the obstacle, determine the third and fourth positions of the obstacle along the direction of the driving lane; Based on the third position, the fourth position, and the lane boundary, the third lateral distance corresponding to the third position and the fourth lateral distance corresponding to the fourth position are obtained, wherein the fourth position is in front of the third position, and the longitudinal distance between the third position and the fourth position is a set detection interval. If the third lateral distance is less than the fourth lateral distance, the direction of the vehicle in the driving lane toward the side where the obstacle exists is determined.

5. The path planning method for obstacle avoidance in passable areas according to claim 2, characterized in that, If the first lateral distance is greater than the second lateral distance, determining that the vehicle is deviating in the direction away from the obstacle within the driving lane specifically includes: Calculate the difference between the first lateral distance and the second lateral distance; Based on the first position, the second position, and the difference, the offset amount of the vehicle in the direction of deviating from the obstacle in the driving lane is determined.

6. The path planning method for obstacle avoidance in passable areas according to claim 5, characterized in that, The current road information also includes the position, direction, and speed of the adjacent vehicle in the same direction lane next to the vehicle. The path planning method for obstacle avoidance in passable areas also includes: Based on the discrete point set and the map lane, a dynamic point set of adjacent vehicles in the same direction located next to the driving lane is selected. Based on the dynamic point set, the position, direction, and speed of the adjacent vehicle in the same direction lane are obtained. Based on the location, direction, and speed of the adjacent vehicle, a predicted trajectory of the adjacent vehicle is generated. The vehicle obtains its current speed and, based on its vehicle position, current speed, offset, and the predicted trajectory of the adjacent vehicle, determines the planned speed when the vehicle deviates from the obstacle in the driving lane.

7. A path planning system for obstacle avoidance in passable areas, characterized in that, The path planning system for obstacle avoidance in passable areas is applied to the path planning method for obstacle avoidance in passable areas according to any one of claims 1-6, wherein the path planning system comprises: The data acquisition module is used to obtain environmental and map information along the vehicle's driving route; The information matching module is used to match the environmental information with the map information to obtain the current road information in the vehicle's driving route, wherein the current road information includes the boundary line information of the vehicle in the driving lane and the obstacle information located in the driving lane; The path generation module is used to generate a path planning scheme for the vehicle in the driving lane if it is determined that there is an obstacle in the driving lane based on the obstacle information, based on the boundary line information and the obstacle information. The obstacle avoidance driving module is used to control the vehicle to drive according to the path planning scheme in order to avoid the obstacles in the driving lane.

8. A vehicle, characterized in that, The vehicle includes: a memory, a processor, and a path planning program stored in the memory and executable on the processor, wherein when the path planning program is executed by the processor, it implements the steps of the path planning method for obstacle avoidance in traversable areas as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a path planning program, which, when executed by a processor, implements the steps of the path planning method for obstacle avoidance in traversable areas as described in any one of claims 1-6.

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