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Vehicle path planning method, device, vehicle-mounted equipment and storage medium

A path planning and path technology, applied in the direction of control devices, etc., can solve the problems of uneven path planning, poor driving comfort, and inability to guarantee lateral paths, etc., and achieve the effect of good ride comfort and high driving comfort

Active Publication Date: 2021-04-16
UISEE TECH BEIJING LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This algorithm divides each path trajectory into horizontal path planning and vertical velocity planning, and performs horizontal path planning first, then longitudinal velocity planning, but the transverse path planning is a decoupled planning, and it is usually impossible to guarantee the There is a feasible solution, which will easily lead to uneven path planning and poor driving comfort

Method used

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  • Vehicle path planning method, device, vehicle-mounted equipment and storage medium
  • Vehicle path planning method, device, vehicle-mounted equipment and storage medium
  • Vehicle path planning method, device, vehicle-mounted equipment and storage medium

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Embodiment Construction

[0027] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the described embodiments are some, not all, embodiments of the present invention. The specific embodiments described here are only used to explain the present invention, but not to limit the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention belong to the protection scope of the present invention.

[0028] It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations.

[0029] Aiming at the problems...

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Abstract

An embodiment of the present disclosure relates to a path planning method for a vehicle, including: acquiring the current vehicle speed of the intelligent driving vehicle and a lateral acceleration threshold; generating path curvature constraints based on the current vehicle speed of the intelligent driving vehicle and the lateral acceleration threshold; based on the The above path curvature constraints are used to plan the driving path. The embodiment of the present disclosure also discloses a corresponding vehicle path planning device, vehicle-mounted equipment, and non-transitory computer-readable storage medium. The technical solutions in the embodiments of the present disclosure can effectively avoid problems such as oversteering, forced braking, and understeering at low speeds when the vehicle changes lanes, avoids obstacles, or overtakes.

Description

technical field [0001] Embodiments of the present disclosure relate to the technical field of vehicle control, and in particular to a vehicle path planning method and device, vehicle-mounted equipment, and a storage medium. Background technique [0002] With the development of intelligent vehicle technology, the automatic driving technology of vehicles has gradually become a hot spot in the field of vehicle research. Due to the complexity of the road environment, when the vehicle needs to change lanes, avoid obstacles or overtake autonomously during driving, it needs to carry out the path planning. [0003] At present, the commonly used path planning method is the discrete difference curve algorithm. The discrete interpolation curve algorithm has gradually become an important algorithm in the field of path planning due to its advantages of good real-time performance, high Lubang property, and continuous curvature of trajectory results. The algorithm divides each path trajec...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W40/105B60W40/109B60W50/00
CPCB60W40/105B60W40/109B60W50/00B60W50/0098B60W2050/0043B60W2520/10B60W2520/125
Inventor 蔡祺生
Owner UISEE TECH BEIJING LTD
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