The invention relates to a method and device for determining a drivable area, equipment, a storage medium and a vehicle, and relates to the technical field of vehicle control. The method comprises the following steps: acquiring positions of a plurality of target obstacle points of a vehicle, and determining the position of the vehicle in a target grid at the current moment according to the positions of the plurality of target obstacle points. Furthermore, according to the position of the target grid at the current moment, a drivable area of the vehicle at the current moment is determined. Wherein the target grid is the grid closest to the vehicle in the unit area, and the number of the target obstacle points included in the target grid is greater than or equal to a preset threshold value; the unit region constitutes an obstacle detection region for the vehicle. The target grid is the grid closest to the vehicle in the unit area, so that the calculation amount of determining the travelable area can be reduced, and the efficiency of determining the travelable area is improved.

    本申请涉及一种可行驶区域的确定方法、装置、设备、存储介质及车辆,涉及车辆控制技术领域。该方法包括:获取车辆的多个目标障碍点的位置,并根据多个目标障碍点的位置,确定车辆在当前时刻目标栅格的位置。进一步的,根据当前时刻目标栅格的位置,确定车辆在当前时刻的可行驶区域。其中,目标栅格为在单位区域内距离车辆最近的栅格,且目标栅格中所包括目标障碍点的数量大于或者等于预设阈值;单位区域用于构成车辆的障碍物检测区域。由于目标栅格为单位区域内距离车辆最近的栅格,这样,可以降低确定可行驶区域的运算量,从而提高确定可行驶区域的效率。


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    Titel :

    Method and device for determining drivable area, equipment, storage medium and vehicle


    Weitere Titelangaben:

    可行驶区域的确定方法、装置、设备、存储介质及车辆


    Beteiligte:
    LIU HUI (Autor:in) / REN FAN (Autor:in) / CHEN JIANBIN (Autor:in) / TAN WEI (Autor:in)

    Erscheinungsdatum :

    22.08.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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