Method, system, electronic device and storage medium for constructing local convex feasible space

Patent metadata

Field	Value
Publication number	US-12371055-B2
Application number	US-202318181701-A
Country	US
Kind code	B2
Filing date	Mar 10, 2023
Priority date	Sep 30, 2022
Publication date	Jul 29, 2025
Grant date	Jul 29, 2025

Abstract

A method, system, electronic device and storage medium for constructing locally convex feasible space are provided. The method includes acquiring a plurality of initial motion trajectory points, size information and surrounding obstacle information of a target vehicle; generating a quadtree map according to the above information; determining a target distance corresponding to each initial motion trajectory point according to the quadtree map; allocating locally convex feasible space to a first-type initial motion trajectory point by using the quadtree map, and allocating locally convex feasible space to a second-type initial motion trajectory point by using an improved convex feasible set algorithm. The first-type initial motion trajectory point is an initial motion trajectory point with the target distance greater than or equal to a set threshold; and the second-type initial motion trajectory point is an initial motion trajectory point with the target distance less than the set threshold.

First claim

What is claimed is:

1. A method for constructing locally convex feasible space, comprising:
acquiring target information, wherein the target information comprises an initial trajectory, size information and surrounding obstacle information of a target vehicle; the initial trajectory comprises a plurality of initial motion trajectory points;
generating a quadtree map according to the target information;
determining a target distance corresponding to each initial motion trajectory point according to the quadtree map, wherein the target distance is a minimum distance in a target set; the target set comprises a distance between a marked initial motion trajectory point and a left boundary of a target corresponding to the marked initial motion trajectory point, a distance between the marked initial motion trajectory point and a right boundary of the target corresponding to the marked initial motion trajectory point, a distance between the marked initial motion trajectory point and an upper boundary of the target corresponding to the marked initial motion trajectory point, and a distance between the marked initial motion trajectory point and a lower boundary of the target corresponding to the marked initial motion trajectory point;
the left boundary of the target corresponding to the marked initial motion trajectory point is a left boundary of a largest rectangular frame corresponding to the marked initial motion trajectory point; the right boundary of the target corresponding to the marked initial motion trajectory point is a right boundary of the largest rectangular frame corresponding to the marked initial motion trajectory point; the upper boundary of the target corresponding to the marked initial motion trajectory point is a upper boundary of the largest rectangular frame corresponding to the marked initial motion trajectory point; the lower boundary of the target corresponding to the marked initial motion trajectory point is a lower boundary of the largest rectangular frame corresponding to the marked initial motion trajectory point; the largest rectangular frame is located on the quadtree map, the marked initial motion trajectory point is located inside the largest rectangular frame corresponding to the marked initial motion trajectory point, and the marked initial motion trajectory point is any initial motion trajectory point;
allocating a first locally convex feasible space to a first-type initial motion trajectory point by using the quadtree map, and allocating a second locally convex feasible space to a second-type initial motion trajectory point by using an improved convex feasible set algorithm, wherein the first-type initial motion trajectory point is an initial motion trajectory point with the target distance greater than or equal to a predetermined threshold; and the second-type initial motion trajectory point is an initial motion trajectory point with the target distance less than the predetermined threshold.

2. The method according to claim 1 , wherein the determining the initial trajectory of the target vehicle comprises:
acquiring pose information of the target vehicle, wherein the pose information comprises at least position information and heading angle information;
determining the initial trajectory of the target vehicle according to the pose information and a sampling and searching-based method.

3. The method according to claim 1 , wherein the generating a quadtree map according to the target information comprises:
expanding obstacles around the target vehicle according to the target information to obtain an expanded map;
generating the quadtree map according to the expanded map.

4. The method according to claim 3 , wherein the expanding obstacles around the target vehicle according to the target information to obtain an expanded map comprises:
processing a space occupied by the target vehicle according to the initial trajectory and the size information of the target vehicle, to obtain an initial map;
expanding the obstacles around the target vehicle in the initial map according to the surrounding obstacle information of the target vehicle, to obtain the expanded map.

5. The method according to claim 4 , wherein the processing a space occupied by the target vehicle according to the initial trajectory and the size information of the target vehicle, to obtain an initial map comprises:
representing the space occupied by the target vehicle with two circles of equal radius, according to the initial trajectory and the size information of the target vehicle, to obtain the initial map;
wherein the two circles of equal radius are a front circle and a rear circle, respectively;
the size information of the target vehicle comprises at least a rear suspension length, a wheelbase, a front suspension length and a vehicle width of the target vehicle;
center coordinates of a front circle corresponding to a k-th initial motion trajectory point is (p fx (k), p fy (k)), and center coordinates of a rear circle corresponding to the k-th initial motion trajectory point is

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Assignees

• Univ Chongqing
• Univ Shanghai

Inventors

• Pu Huayan
• Liu Hai
• Zheng Xuyang
• Luo Jun
• Ma Jie
• Huang Jing
• Chen Yongbing
• Liu Hongliang
• Shen Anming
• Sun Haonan

Classifications

• G06T17/005 Primary

  Tree description, e.g. octree, quadtree · CPC title

• B60W2520/06

  Direction of travel · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• B60W2530/201

  Dimensions of vehicle · CPC title

• B60W2554/4041

  Position · CPC title