Vehicle driving path obtaining method and device and computer readable storage medium

[0072] Example 1:

[0073] like figure 1 As shown, the present embodiment provides a method for obtaining a driving path of a vehicle, including the following steps:

[0074] Step S102, obtaining the starting point and the ending point of the vehicle;

[0075] In step S104, according to the starting point and the ending point, a plurality of traveling paths with continuous curvature are acquired, and among the traveling paths, a target traveling path of the vehicle is selected.

[0076] In this embodiment, a plurality of travel paths with continuous curvatures are obtained according to the starting point and the end point of the vehicle, and a target travel path is selected among the travel paths, and then the vehicle is controlled to travel according to the target travel path.

[0077] The target driving path is a curve with continuous curvature, and the curvature derivative has an upper bound. During the driving process of the vehicle, the vehicle speed can be maintained cont

[0078] Example 2:

[0079] like figure 2 As shown, in addition to the technical features of the above-mentioned embodiments, this embodiment further includes the following technical features:

[0080] The following steps are also included before performing the acquisition of the start and end points of the vehicle:

[0081] Step S202, constructing a mode of a curvature continuous path.

[0082] In this embodiment, the mode of constructing the continuous path of curvature is constructed, and the possible conditions of the continuous path of curvature are obtained by constructing the mode, which is convenient for subsequent calculation and use.

[0083] Example 3:

[0084] like image 3 As shown, in addition to the technical features of the above-mentioned embodiments, this embodiment further includes the following technical features:

[0085] A mode for building a continuous path of curvature, including the following steps:

[0086] Step S302 , based on the multiple modes of the Reeds-Shepp curve, in each mode, the arc in the Reeds-Shepp curve is replaced by a curvature continuous turning curve.

[0087] This embodiment is a new steering method for solving the problem of the current RS curve (Reeds-Shepp curve), that is, an algorithm for calculating the distance between two different positions of a vehicle without considering environmental obstacles.

[0088] The RS curve has 48 modes. In each mode, the arc in the RS curve is replaced by the curvature continuous turning curve, and the mode of the curvature continuous path is obtained.