The invention discloses a vehicle drivable area boundary generation method and device, a storage medium and a vehicle, and relates to the technical field of auxiliary driving, and the method comprises the steps: obtaining lane data and obstacle target data of a current vehicle in real time; sampling lane data to obtain a lane discrete point set; sampling the obstacle target data to obtain an obstacle target trace point set; and constructing a current occupation grid map according to the lane discrete point set and the obstacle target trace point set, and generating a drivable area boundary according to the current occupation grid map. According to the invention, sampling processing is carried out on the obtained lane data and obstacle target data to construct the current occupied grid map, and then the drivable area boundary of the current vehicle is generated, so that different perception data which can be obtained by the vehicle can be processed in a unified manner; therefore, the problem of abnormal vehicle driving track control caused by excessive dependence on lane line data at the present stage is solved in different scenes, especially in a scene with difficulty in lane line recognition.
本申请公开了一种车辆可行驶区域边界生成方法、装置、存储介质及车辆,涉及辅助驾驶技术领域,该方法包括:实时获取当前车辆的车道数据以及障碍目标数据;对车道数据进行采样,获得车道离散点集合;对障碍目标数据进行采样,获得障碍目标点迹集合;根据车道离散点集合以及障碍目标点迹集合构建当前占用栅格地图,并根据当前占用栅格地图生成可行驶区域边界。本申请通过对获得的车道数据和障碍目标数据进行采样处理以构建当前占用栅格地图,进而生成当前车辆的可行驶区域边界,能够将车辆可获得的不同感知数据统一处理,从而在不同场景尤其是车道线识别困难场景中弥补现阶段因为过度依赖车道线数据而造成的车辆行驶轨迹控制异常的问题。
Vehicle travelable area boundary generation method and device, storage medium and vehicle
车辆可行驶区域边界生成方法、装置、存储介质及车辆
2025-03-25
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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