The invention discloses a path planning method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a reference path of a target vehicle in a driving process; obtaining a target path planning function corresponding to the reference path based on the initial path planning function corresponding to the reference path and the to-be-adjusted soft boundary; determining a target path planning point corresponding to the at least one path reference point based on the target path planning function; and obtaining a target driving path corresponding to the target vehicle based on the target path planning point corresponding to each path reference point. A soft boundary corresponding to a target vehicle is dynamically adjusted, path planning points of the target vehicle in the actual driving process are determined based on the soft boundary, and the path planning points comprise path planning information parameters for controlling the target vehicle, such as the position, the speed, the acceleration and the jerk of the target vehicle. The method achieves the reasonable path planning of the target vehicle, and prevents the situation that transverse avoidance is not timely or the vehicle cannot return to the center of the lane after avoidance.
本发明公开了一种路径规划方法、装置、电子设备及存储介质,该方法包括:获取目标车辆在行驶过程中的参考路径;基于参考路径对应的初始路径规划函数和待调节软边界,得到参考路径对应的目标路径规划函数;基于目标路径规划函数,确定至少一个路径参考点对应的目标路径规划点;基于各路径参考点对应的目标路径规划点,得到目标车辆对应的目标行驶路径。通过动态调节目标车辆对应的软边界,并基于软边界确定目标车辆在实际行驶过程中的路径规划点,其中,路径规划点中包括控制目标车辆的路径规划信息参数,如,目标车辆的位置、速度、加速度和加加速度,实现了合理对目标车辆进行路径规划,防止出现横向避让不及时或避让后无法回到车道中心的效果。
Path planning method and device, electronic equipment and storage medium
一种路径规划方法、装置、电子设备及存储介质
2023-11-14
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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