The embodiment of the invention provides a path generation method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring a space-time semantic corridor; discretization point scattering processing is carried out on the multiple basic track points in the space-time semantic corridor, and an initial solution space is obtained; based on the multiple basic track points, an enhanced graph corresponding to the initial solution space is determined, the enhanced graph comprises multiple enhanced points and multiple enhanced edges, and the enhanced edges are edges associated with the two enhanced points; and determining an automatic driving track at the current moment from the initial solution space based on the enhanced graph and the track cost function. An enhanced graph is determined on the basis of a space-time semantic corridor, and an automatic driving track is generated according to enhanced points and enhanced edges in the enhanced graph in combination with a track cost function. According to the scheme, the automatic driving track is generated through the enhanced graph, the automatic driving track can be more efficiently obtained in the driving scene, and the obtained automatic driving track is a globally optimal solution.
本申请实施例提供了一种路径生成方法、装置、车辆以及存储介质。本方法包括:获取时空语义走廊;在时空语义走廊中将多个基础轨迹点进行离散化撒点处理,得到初始解空间;基于多个基础轨迹点,确定初始解空间对应的增强型图,增强型图中包括多个增强点以及多个增强边,增强边为关联两个增强点的边;基于增强型图与轨迹代价函数,从初始解空间中确定当前时刻的自动驾驶轨迹。在时空语义走廊的基础上确定增强型图,结合轨迹代价函数根据增强型图中的增强点和增强边进行生成自动驾驶轨迹,相比只通过时空语义走廊生成自动驾驶轨迹,本方案通过增强型图生成自动驾驶轨迹在驾驶场景中能更高效地得到自动驾驶轨迹,且得到的自动驾驶轨迹为全局最优解。
Path generation method and device, vehicle and storage medium
路径生成方法、装置、车辆及存储介质
16.08.2024
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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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