The invention discloses a path planning method and system, computer equipment, a readable storage medium and a motor vehicle, and relates to the technical field of automatic driving, an automatic driving vehicle is operated to plan an automatic driving path through the path planning method, and the method comprises the following steps: initializing various parameters, and determining a target point through a reverse tree; sampling by taking the target point as a starting point to generate a new node; and the generated nodes are connected, obstacle testing is carried out after connection, and if no collision with the obstacle exists, a path is generated and the generated path is optimized to form a path for automatic driving of the vehicle. The path planning method provided by the invention meets any initial position attitude requirement of the vehicle, accelerates the path planning speed, improves the planning quality, and is more in line with the actual driving condition of the vehicle.

    本发明公开了一种路径规划方法、系统、计算机设备、可读存储介质及机动车,涉及自动驾驶技术领域,运行自动驾驶的车辆通过所述路径规划方法规划自动驾驶路径,包括如下步骤:初始化各项参数,通过逆向树确定目标点;以目标点作为起始点进行采样,生成新的节点;连接生成的节点,连接后进行障碍物测试,如果与障碍物无碰撞,生成路径并对生成的路径进行优化,形成车辆自动驾驶的路径。本发明所提供的路径规划方法满足车辆的任意初始位置姿态要求,加快路径规划速度,提高规划质量,更符合车辆实际行驶情况。


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    Titel :

    Path planning method and system, computer equipment, readable storage medium and motor vehicle


    Weitere Titelangaben:

    一种路径规划方法、系统、计算机设备、可读存储介质及机动车


    Beteiligte:
    CHEN PENG (Autor:in)

    Erscheinungsdatum :

    2023-04-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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




    Path generation method, computer equipment, readable medium and motor vehicle

    QIU RUOFENG / YU WEI / WANG YAONONG | Europäisches Patentamt | 2023

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