The invention discloses a U-turn path planning method and device, equipment and a medium, and relates to the technical field of automatic driving, and the method comprises the steps: carrying out the U-turn path planning through taking the current position of a vehicle as a starting point and taking the target position of each lane in an opposite road as a terminal point when the vehicle is driven to a preset U-turn road section if the road edge of the opposite road can be recognized at present, calculating the calculation overhead of each U-turn path, then taking the U-turn path with the minimum calculation overhead as the final U-turn path, and judging that the path planning is successful, so as to complete the U-turn control of the own vehicle by utilizing the final U-turn path; and if the path planning fails, controlling the own vehicle to steer and move to the preset road edge position at the intersection position of the current lane at the maximum steering wheel angle, and completing the turn-round control of the own vehicle at the preset road edge position by adopting a gear switching mode. According to the invention, the optimal U-turn path can be generated when the vehicle has the U-turn demand, and the U-turn efficiency of the vehicle is improved.

    本申请公开了一种掉头路径规划方法、装置、设备及介质,涉及自动驾驶技术领域,包括:在行驶至预设掉头路段时,若当前能够识别到对向道路的路沿,则以自车当前位置作为起点,以对向道路中各车道的目标位置作为终点进行掉头路径规划,并计算每一条掉头路径的计算开销,然后将计算开销最小的掉头路径作为最终掉头路径,并判定路径规划成功,以利用最终掉头路径完成自车的掉头控制;若路径规划失败,则在当前车道的路口位置以最大方向盘转角控制自车转向移动至预设路沿位置,并在预设路沿位置采取档位切换的方式完成自车的掉头控制。本申请能够在车辆有掉头需求时生成最优的掉头路径,提高车辆掉头效率。


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    Title :

    Turn-around path planning method, device, equipment and medium


    Additional title:

    一种掉头路径规划方法、装置、设备及介质


    Contributors:
    LIU ZHICONG (author) / XU TIANYU (author) / LIU YANG (author) / YU YUXIANG (author) / XU HAO (author) / SONG YANG (author)

    Publication date :

    2025-01-03


    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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