Method and apparatus for planning travelling path, and vehicle

An apparatus for planning a travelling path, comprising:

• one or more processors;
• and
• a storage device configured to store one or more programs, wherein
• the one or more programs, when executed by the one or more processors, cause the one or more processors to:
• determine at least one reference curve covering a first length range, and select a target reference curve covering the first length range from the at least one reference curve covering the first length range, wherein the target reference curve is a curve which is used for avoiding any obstacle within the first length range;
• extract a curve to be adjusted covering a second length range from the target reference curve covering the first length range, wherein the second length range is smaller than the first length range and the second length range has a same starting point as the first length range, and process the curve to be adjusted based on a safety parameter within the second length range, to obtain an adjusted curve;
• and
• determine a travelling path covering the first length range based on the adjusted curve and the target reference curve.

A non-transitory computer-readable storage medium comprising computer executable instructions stored thereon, wherein the executable instructions, when executed by a processor, cause the processor to:

• determine at least one reference curve covering a first length range, and selecting a target reference curve covering the first length range from the at least one reference curve covering the first length range, wherein the target reference curve is a curve which is used for avoiding any obstacle within the first length range;
• extract a curve to be adjusted covering a second length range from the target reference curve covering the first length range, wherein the second length range is smaller than the first length range and the second length range has a same starting point as the first length range;
• process the curve to be adjusted based on a safety parameter within the second length range, to obtain an adjusted curve;
• and
• determine a travelling path covering the first length range based on the adjusted curve and the target reference curve.