The invention discloses a vehicle driving path generation method, and relates to the technical field of automatic driving. The method comprises the following steps: generating a reference line according to driving reference data; performing collision detection based on the reference line to determine a road line; determining constraint conditions based on at least two of the reference line, the roadside line and the vehicle parameter information; and generating a vehicle driving path according to the constraint condition and the constructed target function. The vehicle driving path generated according to the method can effectively avoid obstacles and adjust the curvature in real time, and the real-time performance of the generated vehicle driving path can be effectively ensured.
本发明公开的车辆行驶路径的生成方法,涉及自动驾驶技术领域。该方法包括:根据行驶参考数据生成参考线;基于所述参考线进行碰撞检测以确定路沿线;基于所述参考线、所述路沿线以及车辆参数信息中至少两种确定约束条件;根据所述约束条件和构建的目标函数生成车辆行驶路径。根据本发明方法生成的车辆行驶路径能够有效躲避障碍物以及曲率实时调整,并且能有效保证生成车辆行驶路径的实时性。
Vehicle driving path generation method, control device and storage medium
车辆行驶路径的生成方法、控制装置及存储介质
2023-11-17
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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