The invention discloses a path planning method, device and equipment and a storage medium, and the method comprises the steps: responding to the triggering of an emergency lane keeping function of an own vehicle, determining a path node set of the own vehicle in a planning time period, and enabling the path node set to comprise a path starting node, a path ending node and an obstacle node; based on the path node set, a target planning path of the vehicle in the planning time period is searched, and the target planning path can avoid obstacles corresponding to the obstacle nodes; and in the planned time period, controlling the vehicle to run according to the target planned path. By means of the mode, the possibility that the vehicle collides with the obstacle in the planned time period can be reduced, and therefore the driving safety of the vehicle is improved after the emergency lane keeping function is triggered.
本发明公开了一种路径规划方法、装置、设备和存储介质,路径规划方法包括:响应于自车的紧急车道保持功能触发,确定自车在规划时间段内的路径节点集合,路径节点集合包括路径起始节点、路径终止节点以及障碍物节点;基于路径节点集合,搜索自车在规划时间段内的目标规划路径,目标规划路径能够避开障碍物节点对应的障碍物;在规划时间段内,控制自车按照目标规划路径行驶。通过上述方式,可以降低自车与规划时间段内的障碍物发生碰撞的可能性,从而提高了紧急车道保持功能触发后自车行车的安全性。
Path planning method and device, equipment and storage medium
路径规划方法、装置、设备和存储介质
2023-06-23
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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