The invention discloses a vehicle bypassing direction decision method and device, a vehicle and a storage medium, and the method comprises the steps: determining a passable region of a current vehicle according to the reference line information, current position information and map information of the current vehicle; sampling a passable area of the current vehicle to obtain a sampling point corresponding to the passable area; according to a sampling point corresponding to the passable area and an obstacle object of the current vehicle, determining a dynamic planning original track of the current vehicle and a bypassing object of the current vehicle; and determining the bypassing direction of the current vehicle according to the dynamic planning original trajectory of the current vehicle and the bypassing object of the current vehicle. According to the scheme, the bypassing direction of the current vehicle can be determined according to the dynamic planning original trajectory and the bypassing object of the current vehicle, so that the accuracy of dynamic planning is improved, the decision-making efficiency and success rate of the bypassing direction are improved, higher practicability is achieved, and meanwhile the safety of automatic driving is improved.
本发明公开一种车辆绕行方向决策方法、装置、车辆及存储介质,方法包括:根据当前车辆的参考线信息、当前位置信息和地图信息,确定当前车辆的可通行区域;对当前车辆的可通行区域进行采样,得到可通行区域对应的采样点;根据可通行区域对应的采样点以及当前车辆的障碍对象,确定当前车辆的动态规划原始轨迹以及当前车辆的绕行对象;根据当前车辆的动态规划原始轨迹以及当前车辆的绕行对象,确定当前车辆的绕行方向。即本发明的方案,可以根据动态规划原始轨迹以及当前车辆的绕行对象确定出当前车辆的绕行方向,从而提高了动态规划的精确度,增加了绕行方向的决策效率和成功率,具有更高的实用性,并同时提升了自动驾驶的安全性。
Vehicle bypass direction decision-making method and device, vehicle and storage medium
车辆绕行方向决策方法、装置、车辆及存储介质
2023-09-08
Patent
Electronic Resource
Chinese
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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