The invention relates to an automatic driving method and device, a storage medium and electronic equipment, and the method comprises the steps: obtaining vehicle surrounding environment information at the current moment, and generating passable region information at the current moment according to the vehicle surrounding environment information at the current moment; generating a grid map at the current moment according to the passable area information at the current moment; the grid map comprises passable cells and impassable cells; acquiring the position of the vehicle at the current moment, and performing path search in the grid map by taking the position of the vehicle at the current moment in the grid map as a starting point to obtain a plurality of passing paths; selecting an optimal passage path from the plurality of passage paths according to a preset path screening strategy, and controlling the vehicle to move according to the optimal passage path; wherein the preset path screening strategy is used for enabling the vehicle to run towards a more open area, and guiding the vehicle to run towards a preset running direction.
本发明涉及一种自动驾驶方法及其装置、存储介质、电子设备,包括:获取当前时刻的车辆周围环境信息,并根据所述当前时刻的车辆周围环境信息生成当前时刻的可通行区域信息;根据所述当前时刻的可通行区域信息生成当前时刻的栅格地图;所述栅格地图包括可通行单元格和不可通行单元格;获取当前时刻的车辆位置,以所述当前时刻车辆在栅格地图中的位置为起点在所述栅格地图中进行路径搜索得到多条通行路径;根据预设的路径筛选策略从所述多条通行路径中选取一条最优通行路径,并根据所述最优通行路径控制车辆移动;其中,所述预设的路径筛选策略为使得车辆朝更空旷的区域行驶,并引导车辆朝预设行驶方向行驶。
Automatic driving method and device, storage medium and electronic equipment
一种自动驾驶方法及其装置、存储介质、电子设备
2023-07-11
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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