The invention relates to a path planning method and device, electronic equipment and a readable storage medium, and is applied to the technical field of automatic driving. The path planning method comprises the steps of obtaining environment information, vehicle pose information and a first reference line of a lane where a vehicle is located under the condition that a lane changing request instruction is received; determining traffic state information and obstacle information between a lane where the vehicle is located and a target lane according to the environment information and the vehicle pose information; based on the traffic state information, the obstacle information and the first reference line, determining a first coordinate corresponding to the target pose point in a target coordinate system; determining a corresponding second coordinate of the vehicle in the target coordinate system based on the vehicle pose information and the first reference line; according to the first coordinate, the second coordinate and a reference coordinate corresponding to a reference point in the first reference line under the target coordinate system, planning a lane changing transverse offset path; and outputting the lane-changing transverse offset path. And the lane-changing lateral offset path planning efficiency is improved.

    本发明涉及一种路径规划方法、装置、电子设备及可读存储介质,应用于自动驾驶技术领域。路径规划方法包括:在接收到变道请求指令的情况下,获取环境信息、车辆位姿信息和车辆所在车道的第一参考线;根据环境信息和车辆位姿信息,确定车辆所在车道和目标车道之间的通行状态信息和障碍物信息;基于通行状态信息、障碍物信息以及第一参考线,确定目标位姿点在目标坐标系下对应的第一坐标;基于车辆位姿信息和第一参考线确定车辆在目标坐标系下对应的第二坐标;根据第一坐标、第二坐标和第一参考线中参考点在目标坐标系下对应的参考坐标,规划变道横向偏移路径;输出变道横向偏移路径。提高了变道横向偏移路径规划效率。


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    Titel :

    Path planning method and device, vehicle and readable storage medium


    Weitere Titelangaben:

    一种路径规划方法、装置、车辆及可读存储介质


    Beteiligte:
    WANG TINGYING (Autor:in) / XU MINJIE (Autor:in)

    Erscheinungsdatum :

    27.09.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

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



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