Vehicle decision-making planning method and apparatus, device and medium
AssigneeUisee Technologies (Beijing) Ltd.
InventorsYangming Wu, Xigui Wang, Junyang Wang, Qisheng Cai, Xiaocheng Zhou
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Abstract
A vehicle decision-making planning method, apparatus, device, and medium comprises generating a base coordinate system, generating a guide line in the base coordinate system to determine an approximate travel trajectory of a vehicle in the future, performing obstacle decision-making under the constraint of the guide line, and generating a drivable area based on the obstacle decision-making.
Claims20
A decision-making method for avoiding an obstacle, comprising:
- acquiring road information, first grid obstacle information of a first grid obstacle, and first convex hull obstacle information of a first convex hull obstacle;
- obtaining a second grid obstacle by preprocessing the first grid obstacle based on the road information and the first grid obstacle information;
- converting the second grid obstacle into a second convex hull obstacle;
- making an avoidance decision for avoiding a target convex hull obstacle based on target convex hull obstacle information of the target convex hull obstacle, wherein the target convex hull obstacle comprises the first convex hull obstacle and/or the second convex hull obstacle;
- and
- based on the avoidance decision by an automatic driving system, causing a vehicle to pass on a left side or right side of an obstacle of the vehicle to ensure that the vehicle does not collide with the obstacle of the vehicle.
An electronic device, comprising:
- a memory and one or more processors;
- wherein the memory is in communication connection with the one or more processors, the memory stores instructions executable by the one or more processors, and when the instructions are executed by the one or more processors, the electronic device is configured for implementing:
- acquiring road information, first grid obstacle information of a first grid obstacle, and first convex hull obstacle information of a first convex hull obstacle;
- obtaining a second grid obstacle by preprocessing the first grid obstacle based on the road information and the first grid obstacle information;
- converting the second grid obstacle into a second convex hull obstacle;
- making an avoidance decision for avoiding a target convex hull obstacle based on target convex hull obstacle information of the target convex hull obstacle, wherein the target convex hull obstacle comprises the first convex hull obstacle and/or the second convex hull obstacle;
- and
- based on the avoidance decision, causing a vehicle to pass on a left side or right side of an obstacle of the vehicle to ensure that the vehicle does not collide with the obstacle of the vehicle.
A non-transitory computer readable storage medium storing a computer-executable instruction thereon, wherein the computer-executable instruction, when executed by a computing device, is configured for implementing:
- acquiring road information, first grid obstacle information of a first grid obstacle, and first convex hull obstacle information of a first convex hull obstacle;
- obtaining a second grid obstacle by preprocessing the first grid obstacle based on the road information and the first grid obstacle information;
- converting the second grid obstacle into a second convex hull obstacle;
- making an avoidance decision for avoiding a target convex hull obstacle based on target convex hull obstacle information of the target convex hull obstacle, wherein the target convex hull obstacle comprises the first convex hull obstacle and/or the second convex hull obstacle;
- and
- based on the avoidance decision, causing a vehicle to pass on a left side or right side of an obstacle of the vehicle to ensure that the vehicle does not collide with the obstacle of the vehicle.
Dependencies are inferred from the claim text.