The invention provides a vehicle turning method and device, electronic equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the technical fields of automatic driving, intelligent traffic and the like. According to the specific implementation scheme, the positioning position and the target position of a vehicle are obtained; performing path planning on the vehicle under the boundary constraint condition of the drivable area to obtain a first path from the positioning position to the target position; when the first path comprises a reference track point of which the turning curvature is greater than a curvature threshold value, releasing the boundary constraint condition, and re-planning a path behind the reference track point to obtain a second path; and taking an intersection point between the second path and the boundary of the travelable area as a collision point, controlling the vehicle to reverse after the vehicle travels to the collision point along the second path, and adjusting the direction of the vehicle body according to the target traveling direction after the vehicle turns round so as to complete the vehicle turning round. The vehicle can turn around on a large-curvature road, the phenomenon that the vehicle detours is avoided, and the passing efficiency of the vehicle is improved.

    本公开提供了一种车辆掉头方法、装置、电子设备和存储介质,涉及人工智能技术领域,具体涉及自动驾驶、智能交通等技术领域。具体实现方案为:获取车辆的定位位置和目标位置;在可行驶区域的边界约束条件下对车辆进行路径规划,以得到从定位位置行驶至目标位置的第一路径;在第一路径中包括转弯曲率大于曲率阈值的参考轨迹点时,解除边界约束条件,重新规划参考轨迹点之后的路径,以得到第二路径;将第二路径中与可行驶区域的边界之间的交点作为碰撞点,控制车辆沿第二路径行驶至碰撞点后倒车,并根据掉头后的目标行驶方向调整车身方向,以完成车辆掉头。实现了在大曲率道路进行车辆掉头,避免了出现车辆绕路的现象,提高了车辆的通行效率。


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    Title :

    Vehicle U-turn method and device, electronic equipment and storage medium


    Additional title:

    车辆掉头方法、装置、电子设备和存储介质


    Contributors:
    XIE MENGQI (author)

    Publication date :

    2023-02-03


    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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