A path planning method is provided, to implement planning of an obstacle avoidance path, so that quality of a planned path can be improved. The method includes: obtaining road information, an initial location of a target object, and a destination location (401); determining a Cartesian coordinate system, a Frenet coordinate system, and a mapping relationship between the Cartesian coordinate system and the Frenet coordinate system based on the road information; obtaining, based on the mapping relationship, a path quality indicator function based on the Frenet coordinate system, where the path quality indicator function is a quadratic function; determining a target path based on the Frenet coordinate system by using optimal quadratic programming and based on the path quality indicator function based on the Frenet coordinate system, the initial location of the target object, and the destination location; and converting the target path into the Cartesian coordinate system based on the mapping relationship (406), where the target path is used for path planning and control of the target object.


    Access

    Download


    Export, share and cite



    Title :

    PATH PLANNING METHOD AND PATH PLANNING APPARATUS


    Additional title:

    WEGPLANUNGSVERFAHREN UND WEGPLANUNGSGERÄT
    PROCÉDÉ DE PLANIFICATION DE TRAJET ET APPAREIL DE PLANIFICATION DE TRAJET


    Contributors:
    LIU YALIN (author) / CAO HAOTIAN (author) / SONG XIAOLIN (author)

    Publication date :

    2023-02-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    PATH PLANNING METHOD AND PATH PLANNING APPARATUS

    LIU YALIN / CAO HAOTIAN / SONG XIAOLIN | European Patent Office | 2021

    Free access

    PATH PLANNING DEVICE, PATH PLANNING METHOD, AND PATH PLANNING PROGRAM

    KAWAKITA KOJI | European Patent Office | 2021

    Free access

    PATH PLANNING METHOD AND PATH PLANNING SYSTEM

    CHEN SHENGJUN / LAI JIANMING / XU KUANGZHENG et al. | European Patent Office | 2022

    Free access

    PATH PLANNING METHOD FOR VEHICLE AND PATH PLANNING APPARATUS FOR VEHICLE

    TAI YUZHUO / CHU JINGKAI | European Patent Office | 2023

    Free access

    PATH PLANNING DEVICE, PATH PLANNING METHOD, COMPUTER PROGRAM PRODUCT

    KAWAKITA KOUJI | European Patent Office | 2022

    Free access