The invention discloses a vehicle drivable area determination method, device and equipment and a storage medium, relates to the technical field of intelligent driving, and can improve the accuracy of a vehicle drivable area. According to the specific scheme, the method comprises the following steps: acquiring predicted path data of a target vehicle and predicted trajectory data of a plurality of other objects under the current predicted duration; determining a first motion state of the target vehicle at a target moment according to the predicted path data and the plurality of predicted trajectory data, the target moment being any moment in the predicted duration; determining a space range of a plurality of entrainable dynamic spaces on a target lane at the target moment and a second motion state of each dynamic space according to the plurality of predicted trajectory data, wherein the target lane is a lane into which the target vehicle is to be entered; according to the first motion state and the plurality of second motion states, determining a speed change process of the target vehicle entering each dynamic space; and determining a target dynamic space into which the target vehicle is driven according to the space range of each dynamic space and each speed change process.

    本申请公开一种车辆可行驶区域的确定方法、装置、设备及存储介质,涉及智能驾驶技术领域,能够提高车辆可行驶区域的准确性。具体方案包括:获取当前预测时长下目标车辆的预测路径数据和多个其他物体的预测轨迹数据;根据预测路径数据和多个预测轨迹数据,确定在目标时刻下目标车辆的第一运动状态,目标时刻为预测时长中的任一时刻;根据多个预测轨迹数据确定在目标时刻下目标车道上的多个可驶入的动态空间的空间范围以及各动态空间的第二运动状态,目标车道为目标车辆待驶入的车道;根据第一运动状态和多个第二运动状态,确定目标车辆驶入各动态空间的速度变化过程;根据各动态空间的空间范围和各速度变化过程确定目标车辆要驶入的目标动态空间。


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    Title :

    Method, device and equipment for determining drivable area of vehicle and storage medium


    Additional title:

    车辆可行驶区域的确定方法、装置、设备及存储介质


    Contributors:
    QIN HONGZHOU (author) / WANG DONGKE (author) / BU XIANGJIN (author) / ZHANG ZHENLIN (author)

    Publication date :

    2022-12-02


    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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