The embodiment of the invention discloses a method and a device for determining a drivable area. The method comprises the following steps: acquiring sensor parameters, a region of interest and road boundary data of a driving vehicle, and determining an initial drivable region of the driving vehicle according to the sensor parameters, the region of interest and the road boundary data; acquiring obstacle data of at least one obstacle which can be sensed by the driving vehicle, and determining a target angular point based on the initial drivable area, the obstacle data and a preset angular resolution; and determining a target drivable area of the driving vehicle according to the target angular point. According to the technical scheme of the embodiment of the invention, the calculation time consumption can be reduced, and the regional availability is improved.

    本发明实施例公开了一种可行驶区域确定方法和装置。该方法包括:获取驾驶车辆的传感器参数、感兴趣区域以及道路边界数据,并根据所述传感器参数、所述感兴趣区域以及所述道路边界数据,确定所述驾驶车辆的初始可行驶区域;获取可被所述驾驶车辆感应到的至少一个障碍物的障碍物数据,并基于所述初始可行驶区域、所述障碍物数据以及预设角分辨率,确定目标角点;根据所述目标角点,确定所述驾驶车辆的目标可行驶区域。本发明实施例的技术方案,可以减少计算耗时,提高区域利用性。


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    Title :

    Method and device for determining drivable area


    Additional title:

    一种可行驶区域确定方法和装置


    Contributors:
    QIAN CHENGJUN (author) / WANG YU (author)

    Publication date :

    2023-07-21


    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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