The invention discloses a U-turn trajectory generation method and device based on automatic driving, equipment and a medium. The method comprises the steps that when a vehicle runs to a preset U-turn road section, discrete sampling is conducted on a U-turn space to obtain sampling points, the U-turn space is the space where the vehicle can turn around between a current lane where the vehicle is located and an opposite lane, and the sampling points are the positions where the vehicle passes when the vehicle turns around on the center line of the U-turn space; a vehicle adjusting space is constructed according to the width sum of the current lane where the vehicle is located and the opposite lane and the length of the U-turn space; and according to the current position of the vehicle, the sampling point, the vehicle adjustment space and the road condition of the lane to be driven in, a vehicle turning track is generated through a preset path planning method. By implementing the method provided by the invention, the problem that the U-turn trajectory cannot be flexibly generated in the prior art can be solved.

    本发明公开了一种基于自动驾驶的掉头轨迹生成方法、装置、设备及介质。所述方法包括:当车辆行驶至预设掉头路段时,对掉头空间进行离散采样获取采样点,其中,所述掉头空间是所述车辆当前所在车道与对向车道间可进行掉头的空间,所述采样点是所述掉头空间的中线上车辆掉头时经过的位置;根据所述车辆当前所在车道与所述对向车道的宽度总和以及所述掉头空间的长度构建车辆调整空间;根据所述车辆当前位置、所述采样点与所述车辆调整空间以及待驶入车道的路况通过预设路径规划方法生成车辆掉头轨迹。通过实施本发明的方法可解决现有技术中无法灵活生成掉头轨迹的问题。


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    Title :

    Turn-around trajectory generation method, device and equipment based on automatic driving and medium


    Additional title:

    基于自动驾驶的掉头轨迹生成方法、装置、设备及介质


    Contributors:

    Publication date :

    2024-09-20


    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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