The embodiment of the invention discloses a driving path determination method, device, equipment and a vehicle. The method comprises the steps of determining M candidate escape paths according to the initial position data of the vehicle and N target position data, determining a current driving path according to the initial driving path of the vehicle and the M candidate escape paths, and according to the position information of the object, determining collision information of the vehicle and the object on the current driving path, and if the collision information is matched with preset safety information, driving according to the current driving path, wherein M is apositive integer greater than or equal to N. On the basis of the embodiment of the invention, an end point sampling method is adopted, and the candidate escape paths are represented by adopting the 7-degree polynomial, so that each candidate escape path can be a complete path, and the precision of the candidate escape paths can be improved. Besides, the collision information of the vehicle and the object on the current driving path can be determined in real time, and the escape path can be updated in real time, so that the robustness of determining the driving path and the safety of vehicle driving can be improved.
本申请实施例所公开的一种行驶路径确定方法、装置、设备及车辆,包括根据车辆的初始位置数据和N个目标位置数据,确定M条候选逃逸路径,M为大于等于N的正整数,根据车辆的初始行驶路径和M条候选逃逸路径,确定当前行驶路径,根据对象的位置信息,确定车辆在当前行驶路径上与对象的碰撞信息,若碰撞信息与预设安全信息匹配,根据当前行驶路径行驶。基于本申请实施例,采用终点采样方法,并采用7次多项式的表示候选逃逸路径,可以使得每条候选逃逸路径均是完整路径,可以提高候选逃逸路径的精度。此外,还可以实时确定车辆在当前行驶路径上与对象的碰撞信息,以及实时更新逃逸路径,可以提高确定行驶路径的鲁棒性和车辆驾驶的安全性。
Driving path determination method, device, equipment, and vehicle
一种行驶路径的确定方法、装置、设备及车辆
2021-06-11
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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