The invention provides a path planning method and device, a readable storage medium and a vehicle. The path planning method comprises the steps that a first path between a starting point and an ending point of a vehicle is established, a first coordinate point on the first path is determined, and the first coordinate point is located in an obstacle area; under the condition that a first area corresponding to the first coordinate point and the obstacle area have an overlapped area, a second coordinate point located in the first area and the obstacle area is determined, the first area is a coordinate area determined based on the first coordinate point, and the first coordinate point is located outside the first area; under the condition that a second area corresponding to the second coordinate point does not coincide with the obstacle area, a third coordinate point located in the second area is determined, the third coordinate point is located outside the obstacle area, the second area is a coordinate area determined based on the second coordinate point, and the second coordinate point is located outside the second area; and establishing a second path of the vehicle according to the starting point, the ending point and the third coordinate point.
本发明提出了一种路径规划方法、装置、可读存储介质和车辆。路径规划方法包括:建立车辆的起点和终点之间的第一路径,确定第一路径上的第一坐标点,第一坐标点位于障碍物区域的内部;在第一坐标点对应的第一区域和障碍物区域存在重合区域的情况下,确定位于第一区域和障碍物区域内部的第二坐标点,第一区域为基于第一坐标点确定的坐标区域,第一坐标点位于第一区域的外部;在第二坐标点对应的第二区域和障碍物区域没有重合区域的情况下,确定位于第二区域内部的第三坐标点,第三坐标点位于障碍物区域的外部,第二区域为基于第二坐标点确定的坐标区域,第二坐标点位于第二区域的外部;根据起点、终点和第三坐标点,建立车辆的第二路径。
Path planning method and device, readable storage medium and vehicle
路径规划方法、装置、可读存储介质和车辆
2023-10-17
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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