The invention discloses a driving method and device, electronic equipment and a computer readable storage medium, and belongs to the technical field of automatic driving, and the method comprises the steps: obtaining a first path under a Frenet coordinate system based on the obtained driving data of a vehicle; converting the obtained first path under the Frenet coordinate system into a second path under a Cartesian coordinate system; optimizing the second path according to an optimization strategy based on a Cartesian coordinate system to obtain a target path; and controlling the vehicle to move based on the target path. According to the method, the advantage that the complexity of path planning can be simplified under the Frenet coordinate system and the advantage that the Cartesian coordinate system can consider the kinematics constraint and curvature constraint of the vehicle are combined, so that the more accurate target path is obtained, and the dependence on the smoothness of the reference line is reduced.

    本申请公开了一种行车方法、装置、电子设备及计算机可读存储介质,属于自动驾驶技术领域,包括:在Frenet坐标系下,基于已获取的车辆的行驶数据,得到第一路径;将获取的Frenet坐标系下的第一路径转换为笛卡尔坐标系下的第二路径;根据基于笛卡尔坐标系的优化策略对所述第二路径优化,得到目标路径;基于所述目标路径控制车辆运动。本申请结合Frenet坐标系下可以简化路径规划的复杂性的优势,以及笛卡尔坐标系可以考虑车辆运动学约束、曲率约束的优势,得到更加准确的目标路径,降低对参考线平滑度的依赖。


    Access

    Download


    Export, share and cite



    Title :

    Driving method and device, electronic equipment and computer readable storage medium


    Additional title:

    行车方法、装置、电子设备及计算机可读存储介质


    Contributors:
    WU HUAJIAN (author) / HUANG HUI (author) / WANG YULONG (author)

    Publication date :

    2024-09-24


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS






    Driving equipment control method, computer readable storage medium and driving equipment

    XU JI / HE KEREN / WANG ZIWEI | European Patent Office | 2022

    Free access

    Driving method and device, electronic equipment and computer readable medium

    QIE XINYUE | European Patent Office | 2022

    Free access