The invention provides a driving path determination method and device, a terminal and a medium, and the method comprises the steps: building a coordinate system based on the position of an automatic driving vehicle and the position of a center line of a road where the automatic driving vehicle is located; determining a drivable area based on the obstacle information of the road in the transverse direction of the coordinate system, the obstacle information of the road sampled in the longitudinal direction of the coordinate system, the position of the autonomous vehicle and the boundary of the road; and determining a driving path of the autonomous vehicle based on the drivable area and a set condition satisfied by the driving data of the autonomous vehicle in the driving process. According to the method and the device, the sampled obstacle information is used in the longitudinal direction, and the unsampled obstacle information is used in the transverse direction, so that the accuracy of the obstacle information in the transverse direction is improved while the calculation amount needing to be processed is reduced, and the accuracy of the determined driving path is improved.
本申请提供一种行驶路径确定方法、装置、终端及介质,所述方法包括:基于自动驾驶车辆所处的位置以及自动驾驶车辆所处道路的中心线的位置,构建坐标系;基于道路在坐标系的横向方向上的障碍物信息、道路在坐标系的纵向方向上采样后的障碍物信息、自动驾驶车辆所处的位置以及道路的边界,确定可行驶区域;基于可行驶区域和自动驾驶车辆在行驶过程中的行驶数据所满足的设定条件,确定自动驾驶车辆的行驶路径。本申请通过在纵向方向上使用采样后的障碍物信息,而在横向方向上使用未经采样的障碍物信息,在减少需要处理的计算量的同时,提高横向方向上障碍物信息的准确性,从而提高确定出的行驶路径的准确性。
Driving path determination method and device, terminal and medium
行驶路径确定方法、装置、终端及介质
2022-10-25
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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