The invention provides a path planning method and device for an automatic driving vehicle formation and an automatic driving truck. The method comprises the steps that a rear vehicle in a vehicle formation receives first obstacle information sensed by a front vehicle, wherein the first obstacle information comprises information of at least part of obstacles sensed by the front vehicle; the rear vehicle compares the first obstacle information with the second obstacle information to obtain a comparison result, wherein the second obstacle information comprises information of all obstacles sensed by the rear vehicle; the rear vehicle determines a target obstacle which is incompletely perceived or cannot be perceived by the rear vehicle due to shielding of the front vehicle according to the comparison result; the rear vehicle performs path planning at least according to the information of the target obstacle and the information of the second obstacle. The influence of the obstacles blocked by the front vehicle on the path planning of the rear vehicle is considered. The problem that the control strategy of the vehicle formation does not consider the influence of the obstacle blocked by the front vehicle on the path planning of the rear vehicle is solved.
本申请提供了一种自动驾驶车辆编队的路径规划方法、装置与自动驾驶卡车。该方法包括:车辆编队中的后车接收前车感知到的第一障碍物信息,第一障碍物信息包括前车感知到的至少部分障碍物的信息;后车比对第一障碍物信息和第二障碍物信息得到比对结果,第二障碍物信息包括后车自身感知到的所有的障碍物的信息;后车根据比对结果确定由于前车遮挡导致后车感知不完全或者无法感知到的目标障碍物;后车至少根据目标障碍物的信息、以及第二障碍物信息进行路径规划。考虑了被前车挡住的障碍物对后车路径规划的影响。解决了车辆编队的控制策略未考虑被前车挡住的障碍物对后车路径规划的影响的问题。
Path planning method and device for automatic driving vehicle formation and automatic driving truck
自动驾驶车辆编队的路径规划方法、装置与自动驾驶卡车
2024-06-28
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 |
Path planning method, device and equipment and automatic driving vehicle
European Patent Office | 2023
|European Patent Office | 2021
|European Patent Office | 2024
|