The invention discloses a vehicle driving path determination method and device, and relates to the technical field of automatic driving. According to the specific implementation mode, the method comprises the steps of obtaining vehicle information and environment information of a vehicle; determining a target planning range corresponding to the vehicle according to the vehicle information; in the target planning range, according to obstacle information in the environment information, determining obstacle contours of the plurality of obstacles; performing aggregation according to the plurality of obstacle contours to obtain an aggregated obstacle contour; and determining a driving path of the vehicle according to the aggregated obstacle contour. According to the embodiment, under the condition that many obstacles exit in front of the automatic driving automobile, the multiple obstacles can be aggregated, the optimal driving path of the automatic driving automobile is determined, the calculated amount of the system is reduced, the path planning frequency is reduced, the path planning efficiency of the system is improved, and stable driving of the automatic driving automobile is guaranteed; and the driving safety is improved.
本发明公开了一种车辆行驶路径的确定方法和装置,涉及自动驾驶技术领域。该方法的具体实施方式包括:获取车辆信息和车辆的环境信息;根据车辆信息,确定车辆对应的目标规划范围;在目标规划范围内,根据环境信息中的障碍物信息,确定多个障碍物的障碍物轮廓;根据多个障碍物轮廓进行聚合,得到聚合障碍物轮廓;根据聚合障碍物轮廓,确定车辆的行驶路径。该实施方式能够在自动驾驶汽车前方障碍物较多的情况下,对多个障碍物进行聚合处理,确定自动驾驶汽车的最佳行驶路径,进而降低系统计算量,减少路径规划次数,提高系统的路径规划效率,保障自动驾驶汽车的平稳行驶,提高行驶安全性。
Vehicle driving path determination method and device
一种车辆行驶路径的确定方法和装置
2021-11-23
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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