The invention provides a vehicle driving path obtaining method and device and a computer readable storage medium. The vehicle driving path obtaining method comprises the steps of obtaining a startingpoint and an ending point of a vehicle; and according to the starting point and the ending point, obtaining a plurality of driving paths with continuous curvatures, and selecting a target driving pathof the vehicle in the driving paths. The target driving path is the curve with the continuous curvature, the curvature derivative has the upper bound, in the vehicle driving process, the vehicle speed can be kept continuous, a steering wheel does not need to be stopped and adjusted, the target driving path generated by adopting the vehicle driving path obtaining method does not need to be subjected to smooth optimization any more, and the track is more easily tracked by the vehicle.

    本发明提供了一种车辆行驶路径获取方法、装置和计算机可读存储介质。车辆行驶路径获取方法,包括:获取车辆的起点和终点;根据起点和终点,获取多个曲率连续的行驶路径,在行驶路径中,选取车辆的目标行驶路径。本发明中目标行驶路径为曲率连续的曲线,并且曲率导数有上界,车辆行驶过程中,车辆速度可以保持连续,不需要停下调整方向盘,采用本发明的实施例生成的目标行驶路径无需再进行平滑优化,轨迹更容易被车辆跟踪。


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    Title :

    Vehicle driving path obtaining method and device and computer readable storage medium


    Additional title:

    车辆行驶路径获取方法、装置和计算机可读存储介质


    Contributors:
    LIU XIN (author) / HE ZHIGUO (author) / WANG WEI (author)

    Publication date :

    2020-12-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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