Method, apparatus, device and readable storage medium for planning pass path

Patent metadata

Field	Value
Publication number	US-11521495-B2
Application number	US-201916704005-A
Country	US
Kind code	B2
Filing date	Dec 5, 2019
Priority date	Dec 5, 2018
Publication date	Dec 6, 2022
Grant date	Dec 6, 2022

Abstract

The present disclosure provides a method, an apparatus, a device and a readable storage medium for planning a pass path. The method includes: acquiring current road environment information in front of a vehicle; setting pass candidate points according to the current road environment information and a driving strategy; and determining a current optimal passable path according to the pass candidate points. Since the pass candidate points are set according to the current road environment information and the driving strategy, and the current optimal passable path is determined according to the pass candidate points, thereby effectively decreasing the calculation amount of the impassable path calculation in prior art due to direct setting of pass candidate points in all areas in front of an unmanned vehicle.

First claim

What is claimed is:

1. A method for planning a pass path, performed by a processor, the method comprising:
acquiring current road environment information in front of a vehicle;
setting pass candidate points according to the current road environment information and a driving strategy, wherein the current road environment information comprises: moving vehicle obstacle information and lane line information;
determining a current optimal passable path according to the pass candidate points; and
controlling driving of the vehicle according to the current optimal passable path and a corresponding driving strategy;
wherein the setting pass candidate points according to the current road environment information and the driving strategy comprises:
setting pass candidate points with a first density in a car-following area located in a rear side of a moving vehicle obstacle;
setting pass candidate points with a second density in an overtaking area located in left, right and front sides of the moving vehicle obstacle; and
setting pass candidate points with a third density in a free driving space area;
wherein the first density is greater than the second density, and the second density is greater than the third density.

2. The method according to claim 1 , wherein the setting pass candidate points according to the current road environment information and the driving strategy further comprises:
determining a current passable area according to the road environment information.

3. The method according to claim 2 , wherein after the determining a current passable area according to the road environment information, the method further comprises:
when there is a plurality of current passable areas, determining a current optimal passable area in the current passable areas according to an optimal area selection strategy.

4. The method according to claim 3 , wherein
the setting pass candidate points with the first density in the car-following area located in the rear side of the moving vehicle obstacle comprises setting pass candidate points with the first density in the car-following area located in the rear side of the moving vehicle obstacle in the current optimal passable area;
the setting pass candidate points with the second density in the overtaking area located in the left, right and front sides of the moving vehicle obstacle comprises setting pass candidate points with the second density in the overtaking area located in the left, right and front sides of the moving vehicle obstacle in the current optimal passable area; and
the setting pass candidate points with the third density in the free driving space area comprises setting pass candidate points with the third density in the free driving space area of the current optimal passable area.

5. The method according to claim 2 , wherein the determining a current passable area according to the road environment information comprises:
determining multiple current passable subareas from a current starting position to a current target position according to the current road environment information; and
determining at least one current passable area according to the multiple current passable subareas sequentially arranged from the current starting position to the current target position.

6. The method according to claim 1 , wherein the determining a current optimal passable path according to the pass candidate points comprises:
calculating multiple current passable paths according to the pass candidate points; and
determining the current optimal passable path from the multiple current passable paths according to an optimal path selection strategy.

7. The method according to claim 6 , wherein the calculating multiple current passable paths according to the pass candidate points comprises:
calculating the multiple current passable paths with a path determining algorithm according to the pass candidate points.

8. The method according to claim 6 , wherein the determining a current optimal passable path from the multiple current passable paths according to an optimal path selection strategy comprises:
comparing the multiple current passable paths according to a preset metric; and
selecting a current passable path with an optimal preset metric from the multiple current passable paths as the current optimal passable path.

9. The method according to claim 8 , wherein the preset metric comprises any one or more of the following metrics:
a security metric, a fuel consumption metric and a comfortability metric.

10. The method according to claim 8 , wherein after the selecting a current passable path with an optimal preset metric from multiple current passable paths as the current optimal passable path, the method further comprises:
outputting a driving strategy corresponding to the current optimal passable path.

11. An apparatus for planning a pass path, comprising: a memory, a processor and a computer program;
wherein the computer program is stored in the memory, and is configured to be executed by the processor to cause the processor to:
acquire current road environment information in front of a vehicle;
set pass candidate points according to the current road environment information and a driving strategy, wherein the current road environment information comprises: moving vehicle obstacle information and lane line information;
determine a current optimal passable path according to the pass candidate points; and
control driving of the vehicle according to the current optimal passable path and a corresponding driving strategy;
wherein the computer program is configured to be executed by the processor to cause the processor to:
set pass candidate points with a first density in a car-following area located in a rear side of a moving vehicle obstacle;
set pass candidate points with a second density in an overtaking area located in left, right and front sides of the moving vehicle obstacle; and
set pass candidate points with a third density in a free driving space area;
wherein the first density is greater than the second density, and the second density is greater than the third density.

12. The apparatus according to claim 11 , wherein the computer program is configured to be executed by the processor to cause the processor to:
determine a current passable area according to the road environment information.

13. The apparatus according to claim 12 , wherein the computer program is configured to be executed by the processor to further cause the processor to:
when there is a plurality of current passable areas, determine a current optimal passable area in the current passable areas according to an optimal area selection strategy.

14. The apparatus according to claim 13 , wherein
the computer program is configured to be executed by the processor to cause the processor to:
set pass candidate points with a first density in a car-following area located in a rear side of a moving vehicle obstacle in the current optimal passable area;
set pass candidate points with a second density in an overtaking area located in left, right and front sides of the moving vehicle obstacle in the current optimal passable area; and
set pass candidate points with a third density in a free driving space area of the current optimal passable area.

15. The apparatus according to claim 12 , wherein the computer program is configured to be executed by the processor to cause the processor to:
determine multiple current passable subareas from a current starting position to a current target position according to the current road environment information; and
determine at least one

Assignees

• Beijing Baidu Netcom Sci & Tech Co Ltd

Inventors

• Yang Fan
• Zhu Fan
• Zhu Weicheng
• Lv Leibing
• Ma Lin

Classifications

• G08G1/167 Primary

  Driving aids for lane monitoring, lane changing, e.g. blind spot detection · CPC title

• B60W2554/801

  Lateral distance · CPC title

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W2554/802

  Longitudinal distance · CPC title