The invention provides a vehicle anti-collision path planning method and device, equipment and a storage medium. The method comprises the steps of determining a second area according to terrain information of a first area where a current vehicle is located; determining rejection potential energy of an ellipsoid rejection potential field of the second area according to the risk type and the obstacle feature information of the second area; determining attraction potential energy of an attraction potential field of the second area according to the target position information of the second area; according to the rejection potential energy of the virtual boundary rejection potential field, the rejection potential energy of the ellipsoid rejection potential field and the attraction potential energy of the attraction potential field of the second area, determining the total potential energy of a synthetic potential field of the second area, and according to the total potential energy of the synthetic potential field, determining an anti-collision path of the current vehicle; and determining the driving operation at the next moment based on the model prediction control algorithm, and operating the current vehicle at the next moment based on the driving operation. According to the method, the anti-collision path of the vehicle can be efficiently and accurately determined, and the vehicle can run along the planned anti-collision path.

    本申请提供一种车辆防撞的路径规划方法、装置、设备以及存储介质。该方法包括:根据当前车辆所在的第一区域的地形信息确定第二区域;根据第二区域的风险类型和障碍物特征信息,确定第二区域的椭球排斥势场的排斥势能;根据第二区域的目标位置信息,确定第二区域的吸引势场的吸引势能;根据第二区域的虚拟边界排斥势场的排斥势能、椭球排斥势场的排斥势能以及吸引势场的吸引势能,确定第二区域的合成势场的总势能,并根据该合成势场的总势能,确定当前车辆的防撞路径;基于模型预测控制算法确定下一时刻的驾驶操作,基于该驾驶操作,对下一时刻的当前车辆进行操作。该方法可以高效、准确的确定车辆的防撞路径,并使车辆沿着规划好的防撞路径行驶。


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    Title :

    Vehicle anti-collision path planning method, device and equipment and storage medium


    Additional title:

    车辆防撞的路径规划方法、装置、设备以及存储介质


    Contributors:
    LIU KAI (author) / WANG JIAQIN (author) / LI HANTAO (author) / LUO XILING (author) / LIU FENG (author)

    Publication date :

    2024-04-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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