Path planning method and device, electronic equipment and readable storage medium

• Main Authors: LI JIANFENG, YU ZHIHONG, YANG ZHILIN, WANG HONGFEI, CHEN YONGJIA, LI GUOBAO, WU XIAOXING, WU BAOYOU, LIANG ZHEHENG, WANG DANDAN
• Format: Patent
• Language: Chinese; English
• Published: 03.07.2020
• Subjects: CALCULATING; COMPUTING; COUNTING; DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FORADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORYOR FORECASTING PURPOSES; ELECTRIC DIGITAL DATA PROCESSING; PHYSICS; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE,COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTINGPURPOSES, NOT OTHERWISE PROVIDED FOR

The invention provides a path planning method and apparatus, an electronic device and a readable storage medium. The method comprises the steps of obtaining coordinates of a starting point and a target point of a vehicle and a driving direction of the starting point; taking the starting point as an initial father node, expanding adjacent nodes in a preset map according to a vehicle driving direction and driving characteristics, and determining expandable nodes from the adjacent nodes according to set expansion constraint conditions; wherein the extension constraint condition is that the curvature of the driving path from the father node to the extensible node is smaller than or equal to a preset vehicle turnable curvature, and the extensible node is not an obstacle node and is located in apreset area; calculating a cost value corresponding to each extensible node; selecting the extensible node with the minimum replacement value as the next arrival node; and when the next arrival nodeis not the target point, c