Title:
GLOBAL PATH PLANNING METHOD AND APPARATUS
Document Type and Number:
WIPO Patent Application WO/2022/063005
Kind Code:
A1
Abstract:
A global path planning method, comprising: acquiring a first skeleton line of a passable area in an unstructured road (S110); accordingly determining a second skeleton line (S120); acquiring a bear-right traveling path of the passable area (S130); determining a plurality of sidelines and a plurality of vertexes of the unstructured road according to the second skeleton line and the bear-right traveling path (S140), wherein the sideline has a length attribute and a direction attribute; before global path planning is carried out, mapping the current vehicle position and a target point onto a structured-like map (S150); determining a first nearest point set from a first position to the sidelines of the structured-like map, and a second nearest point set from a second position to the sidelines of the structured-like map (S160); determining an evaluation function value from each first nearest point in the first nearest point set to each second nearest point in the second nearest point set (S170); and determining, as an optimal path, a path between the first nearest point and the second nearest point with the smallest evaluation function value (S180). By means of the method, the efficiency of global path planning is improved, and the rationality of path search results is increased. Further provided are a global path planning apparatus, a computer-readable storage medium, a computer server and a mobile tool.
Inventors:
ZHANG ZHUO (CN)
YAN BO (CN)
XU CHENG (CN)
ZHANG FANG (CN)
LI XIAOFEI (CN)
ZHANG DEZHAO (CN)
WANG XIAO (CN)
HUO SHUHAO (CN)
YAN BO (CN)
XU CHENG (CN)
ZHANG FANG (CN)
LI XIAOFEI (CN)
ZHANG DEZHAO (CN)
WANG XIAO (CN)
HUO SHUHAO (CN)
Application Number:
PCT/CN2021/118566
Publication Date:
March 31, 2022
Filing Date:
September 15, 2021
Export Citation:
Assignee:
BEIJING IDRIVERPLUS TECH CO LTD (CN)
International Classes:
G05D1/02
Foreign References:
| CN112444263A | 2021-03-05 | |||
| CN107664503A | 2018-02-06 | |||
| CN111521189A | 2020-08-11 | |||
| CN106767860A | 2017-05-31 | |||
| CN107992050A | 2018-05-04 | |||
| US20050234638A1 | 2005-10-20 |
Attorney, Agent or Firm:
ZHONG LUN LAW FIRM (CN)
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