The invention relates to a vehicle drivable area generation method and device, equipment and a medium. The method comprises the steps that environment perception information is acquired, the environment perception information comprises at least two of lane information, obstacle information and vehicle information, and the obstacle information comprises static obstacle information and/or dynamic obstacle information; based on the environmental perception information, lane decision semantic information of each lane is determined, and the lane decision semantic information comprises passing time cost and safety cost; and generating a drivable area based on the lane decision semantic information. According to the embodiment of the invention, the drivable area is generated based on the lane decision semantic information, the drivable area with high trafficability and safety can be quickly generated, the generation of the driving track is accelerated, and the method is suitable for processing obstacles in a dynamic environment.

    本公开涉及一种车辆可行驶区域生成方法、装置、设备及介质。其中,方法包括:获取环境感知信息,其中,所述环境感知信息包括车道信息、障碍物信息和本车信息中的至少两个,所述障碍物信息包括静态障碍物信息和/或动态障碍物信息;基于所述环境感知信息,确定每个车道的车道决策语义信息,其中,所述车道决策语义信息包括通过时间代价和安全性代价;基于所述车道决策语义信息,生成可行驶区域。本公开实施例基于车道决策语义信息,生成可行驶区域,能够快速生成通过性和安全性高的可行驶区域,加速行驶轨迹的生成,且适用动态环境中障碍物的处理。


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    Title :

    Vehicle travelable area generation method and device, equipment and medium


    Additional title:

    车辆可行驶区域生成方法、装置、设备及介质


    Contributors:
    WU YANGMING (author) / WANG XIGUI (author) / WANG JUNYANG (author) / CAI QISHENG (author) / ZHOU XIAOCHENG (author)

    Publication date :

    2023-03-21


    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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