The invention discloses a detouring mode determination method, device and equipment and a storage medium, and relates to the technical field of vehicles, and the method comprises the steps: determining a sampling point in a passing area of a vehicle, and carrying out the dynamic planning of the vehicle according to an obstacle in the passing area and the sampling point, and obtaining a plurality of planned coarse trajectories; determining detour labels of sampling points and secondary sampling points forming each planned coarse trajectory according to the obstacles, and dividing the passage area into a plurality of sub-areas according to the detour labels of the sampling points and the secondary sampling points; determining a target planning coarse trajectory according to the loss value of each target coarse trajectory after determining the target coarse trajectory of each sub-region; and determining a bypassing mode of the vehicle to the target obstacle according to the position relationship between the target obstacle and the target planning coarse trajectory. According to the technical scheme, the bypassing mode of the vehicle to the target obstacle provides accurate bypassing suggestions for path planning, the occurrence of repeated bypassing of the obstacle is reduced, and the accuracy and efficiency of path planning are improved.

    本发明公开了一种绕行方式确定方法、装置、设备和存储介质,涉及车辆技术领域,该方法包括:在车辆的通行区域内确定采样点,根据通行区域内障碍物以及采样点对车辆进行动态规划,得到多个规划粗轨迹;根据障碍物确定构成各规划粗轨迹的采样点和二次采样点的绕行标签,并根据各采样点和各二次采样点的绕行标签将通行区域划分为多个子区域;确定各子区域的目标粗轨迹之后,根据各目标粗轨迹的损失值确定目标规划粗轨迹;根据目标障碍物与目标规划粗轨迹的位置关系确定车辆对于目标障碍物的绕行方式。上述技术方案,车辆对于目标障碍物的绕行方式为路径规划提供精确的绕行建议,降低对于障碍物反复绕行情况的发生,提升路径规划的精确度和效率。


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    Titel :

    Determining method and device, equipment and storage medium


    Weitere Titelangaben:

    一种绕行方式确定方法、装置、设备和存储介质


    Beteiligte:
    WANG HONGFENG (Autor:in) / LIU WEIHAI (Autor:in) / SHANG BINGXU (Autor:in) / CHEN ZHIXIN (Autor:in) / XU HUAJIAN (Autor:in) / CHEN WEICHI (Autor:in) / QIU YUNHAI (Autor:in) / ZHANG YONG (Autor:in) / LIU YANG (Autor:in) / YUAN WENJIAN (Autor:in)

    Erscheinungsdatum :

    03.01.2025


    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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