A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Path planning method and device, equipment and storage medium
The invention relates to the technical field of path planning, and discloses a path planning method and device, equipment and a storage medium. The method comprises the following steps: acquiring a starting position, a target position, a vehicle geometric parameter and a minimum ground clearance parameter of a vehicle, and a road surface geometric characteristic parameter and a road surface unevenness characteristic parameter of a non-paved road; carrying out discrete sampling on the non-paved road to obtain a plurality of road surface sampling points; constructing a road unevenness risk potential field model and a road boundary risk potential field model according to the road surface geometrical characteristic parameters and the road surface unevenness characteristic parameters; and traversing each road surface sampling point, and determining a target path with the lowest comprehensive cost from the initial position to the target position. According to the embodiment of the invention, the safety and comfort of the vehicle running on the non-paved road can be improved.
本申请涉及路径规划技术领域，公开一种路径规划方法、装置、设备及存储介质。该方法包括：获取车辆的起始位置、目标位置、车辆几何参数和最小离地间隙参数以及非铺装道路的路面几何特征参数和路面不平度特征参数；对非铺装道路进行离散采样，得到多个路面采样点；根据路面几何特征参数和路面不平度特征参数，构建道路不平度风险势场模型和道路边界风险势场模型；历遍各路面采样点，确定自起始位置至目标位置的、综合代价最低的目标路径。本申请实施例可以提高车辆在非铺装道路上行驶时的安全性和舒适性。
Path planning method and device, equipment and storage medium
The invention relates to the technical field of path planning, and discloses a path planning method and device, equipment and a storage medium. The method comprises the following steps: acquiring a starting position, a target position, a vehicle geometric parameter and a minimum ground clearance parameter of a vehicle, and a road surface geometric characteristic parameter and a road surface unevenness characteristic parameter of a non-paved road; carrying out discrete sampling on the non-paved road to obtain a plurality of road surface sampling points; constructing a road unevenness risk potential field model and a road boundary risk potential field model according to the road surface geometrical characteristic parameters and the road surface unevenness characteristic parameters; and traversing each road surface sampling point, and determining a target path with the lowest comprehensive cost from the initial position to the target position. According to the embodiment of the invention, the safety and comfort of the vehicle running on the non-paved road can be improved.
本申请涉及路径规划技术领域，公开一种路径规划方法、装置、设备及存储介质。该方法包括：获取车辆的起始位置、目标位置、车辆几何参数和最小离地间隙参数以及非铺装道路的路面几何特征参数和路面不平度特征参数；对非铺装道路进行离散采样，得到多个路面采样点；根据路面几何特征参数和路面不平度特征参数，构建道路不平度风险势场模型和道路边界风险势场模型；历遍各路面采样点，确定自起始位置至目标位置的、综合代价最低的目标路径。本申请实施例可以提高车辆在非铺装道路上行驶时的安全性和舒适性。
Path planning method and device, equipment and storage medium
路径规划方法、装置、设备及存储介质
WU WENGUANG (author) / WANG JIAKAI (author) / QIU SONGJIANG (author) / HU LIN (author) / WAN YUPING (author) / CAO YI (author) / JIN BIN (author) / QIU ZENGHUA (author) / CHEN ZHOUHAO (author)
2024-12-20
Patent
Electronic Resource
Chinese
IPC:
G01C
Messen von Entfernungen, Höhen, Neigungen oder Richtungen
,
MEASURING DISTANCES, LEVELS OR BEARINGS
/
E01C
Bau von Straßen, Sportplätzen oder dgl., Decken dafür
,
CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE
/
G01B
MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS
,
Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen
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