Vehicle path decision post-processing method and system, vehicle and device

Abstract

The application discloses a path decision post-processing method and system of a vehicle, the vehicle and equipment. The path decision post-processing method of the vehicle comprises the following steps: obtaining a lane boundary and an obstacle boundary, wherein the lane boundary is used for constraining a wheel, the obstacle boundary is used for constraining a vehicle body, and the obstacle boundary is obtained by expanding the lane boundary; obtaining an obstacle distribution on the lane boundary; judging whether an expansion condition of the lane boundary is met according to the obstacle distribution and a lane minimum width requirement value, wherein the lane minimum width requirement value is obtained according to vehicle parameters and road parameters; and if yes, expanding the lane boundary. According to the application, the wheel and the vehicle body are respectively used for constraint in path optimization, the solution space of optimization is expanded, the drivable space boundary is more neat through a certain degree of expansion of the soft and hard boundaries, and then the path at the optimization position is more smooth, and the flexibility of the truck in the road condition with large curvature is improved.

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