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Passage path planning method, device, equipment and readable storage medium

A technology of paths and passage areas, applied in control devices, two-dimensional position/channel control, transportation and packaging, etc., can solve the problems of increasing unreachable paths, reducing the speed of planning for passing paths, and increasing the amount of calculation for planning of passing paths, etc. To achieve the effect of reducing the amount of calculation and improving the planning speed

Active Publication Date: 2022-02-11
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It solves the problem that in the prior art path planning method, unnecessary calculation of unreachable paths is added, thereby increasing the calculation amount of path planning, reducing the speed of path planning, and not The driving strategy of unmanned vehicles is not considered, so the planned path cannot be well coupled with the technical problem of driving strategy

Method used

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  • Passage path planning method, device, equipment and readable storage medium
  • Passage path planning method, device, equipment and readable storage medium
  • Passage path planning method, device, equipment and readable storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0030] figure 2 A process diagram of a planning method for the general path provided by the embodiment of the present application, such as figure 2 As shown, the execution body of the present application is a planning device of the general path, which can be integrated into an electronic device, and the electronic device can be located in a unmanned vehicle. The planning method of the general path provided in this embodiment includes the following steps.

[0031] Step 201, obtain the current road environment data in front of the vehicle.

[0032] Specifically, in the present embodiment, a perceptual apparatus is provided on the drone, and the perceptual means may be a video acquisition device, a laser radar device, and the like, a sense device collects the current road environment data in front of the vehicle, and a general path planning device from a perceptual device. Get the current road environment data in front of the vehicle.

[0033] Among them, the current road environmen...

Embodiment 2

[0042] image 3 A flow chart of the planning method of the general path provided by the second embodiment of the present application, such as image 3 As shown, the planning method of the general path provided in this embodiment is based on the planning method of the general path provided by the first embodiment of the present application, and further refinement of step 201 - Step 203, and also includes output current most The travel policy corresponding to the excellent pass path; the step of controlling the vehicle in accordance with the current optimal accessible path and the corresponding travel policy, the planning method of the general path provided in the present embodiment includes the following steps.

[0043] Step 301 get the current road environment data in front of the vehicle.

[0044] Further, in the present embodiment, the current road environment data includes: motion vehicle obstacle information and the vehicle line information.

[0045] Specifically, obstacle info...

Embodiment 3

[0079] Image 6 The method of the present application programming flowchart passage path according to a third embodiment, such as Image 6 , The traffic path planning method provided in this embodiment, in the present embodiment based application programming method according to a first path passing on further refinement step and step 201- 203, the present embodiment provides the access path planning method comprises the following steps.

[0080] Step 601, acquiring environmental data current road ahead of the vehicle.

[0081] Further, in this embodiment, current road environment data comprises: the motion information of the obstacle and the vehicle lane line information.

[0082] Step 602, determine a current road environment information can be based on the current traffic area.

[0083] Further, in this embodiment, Figure 7 The present application programming flowchart 602 of method steps traffic path according to a third embodiment, such as Figure 7 As shown in this embodiment, ...

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Abstract

Embodiments of the present application provide a method, apparatus, device, and readable storage medium for planning a travel path. The method includes: acquiring current road environment data in front of the vehicle; setting pass candidate points according to current road environment information and a driving strategy; and determining a current optimal passable path according to the pass candidate points. Setting pass candidate points according to the current road environment information and driving strategy, and then determining the current optimal passable path according to the pass candidate points, can effectively reduce the number of pass candidate points set in all areas directly in front of the unmanned vehicle in the prior art, which is computationally unreachable. The calculation amount of the passing path, thereby reducing the calculation amount of the passing path planning, improving the planning speed of the passing path, and considering the driving strategy of the unmanned vehicle when setting the passing candidate points, so that the planned path can be very good. Coupled driving strategies.

Description

Technical field [0001] The present application relates to the field of driverless technology, and more particularly to a planning method, apparatus, device, and readable storage medium of a pass path. Background technique [0002] With the development of computer technology and artificial intelligence, unmanned vehicles (referred to as unintro) have broad application prospects in transportation, military, logistics warehousing, daily lives. Driving techniques mainly include perception of environmental information, smart decisions of driving behavior, no collision path planning, and portions of motion control of vehicles. Path Planning is a key part of unmanned technology, which is based on environmental data of a perceptual system. The vehicle needs to scale a safe and reliable, from the starting position to the target position in a complex road environment. path. [0003] The existing general path planning method is primarily based on a grid algorithm (English: lattice) planning...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D2201/0213B60W2552/53B60W30/18163B60W2554/801B60W2554/802G08G1/166G06V20/56G08G1/167G05D1/0088B60W40/04G08G1/0112B60W2554/00
Inventor 杨凡朱帆朱伟铖吕雷兵马霖
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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