The invention relates to an urban vehicle U-turn path planning method, a storage medium and a vehicle. The method comprises the following steps: acquiring vehicle positioning information, vehicle parameters and road boundary line information; carrying out discretization processing on the obtained road boundary line information; according to the vehicle positioning information and the parameters of the vehicle, the turning radius required for turning around is obtained; judging whether the vehicle can successfully turn round at one time or not, if yes, advancing and turning round at one time, and otherwise, backing and reversing to turn round at the minimum turning radius; and planning a turning-around path according to the circle center and the turning radius in the turning-around process. According to the method, collision detection is carried out on the vehicle and the road boundary in the turning process according to the actual road working condition of the current vehicle, so that whether the vehicle goes forward or needs to reverse to turn around at a time or not is judged, the scene of urban automatic driving is enriched, and the complex road working condition of urban automatic driving is effectively met.
本发明涉及一种城区车辆掉头路径规划方法、存储介质及车辆,方法包括以下步骤:获取车辆定位信息、车辆自身参数和道路边界线信息;将所获取的道路边界线信息作离散化处理;根据所述车辆定位信息和车辆自身参数求得掉头所需转弯半径;判断车辆是否能一次性掉头成功,如果能一次性掉头成功则一次性前进掉头,反之则以最小转弯半径后退倒车掉头;根据掉头过程中的圆心和转弯半径规划掉头路径。本发明根据当前车辆所面对的实际道路工况,来对车辆在掉头过程中与道路边界进行碰撞检测,从而判断车辆是一次性前进掉头还是需要后退倒车掉头,丰富了城区自动驾驶的场景,有效面对城区自动驾驶复杂的道路工况。
Urban vehicle U-turn path planning method, storage medium and vehicle
一种城区车辆掉头路径规划方法、存储介质及车辆
2022-08-12
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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