| CPC G05D 1/0219 (2013.01) [B60W 30/045 (2013.01); B60W 40/04 (2013.01); B60W 40/06 (2013.01); G05D 1/0221 (2013.01); B60W 2530/201 (2020.02); B60W 2552/20 (2020.02); B60W 2554/408 (2020.02)] | 18 Claims |
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1. A method for determining a turn-round path of a vehicle, comprising:
determining, by a processor, a starting position and a target position for the vehicle to turn round on a road based on road information associated with the road, wherein the starting position and the target position for the vehicle to turn round on the road are determined by means of a topological map of the road, the topological map is implemented as a grid map, and a size of the grids is set according to a size of the vehicle or a width of lanes, and the starting position and the target position are mapped to corresponding grids in the grid map;
determining, based at least partially on the road information associated with the road and vehicle information associated with the vehicle, a candidate turn-round path between the starting position and the target position on basis of the topological map implemented as the grid map;
evaluating, before controlling the vehicle to turn round on the road according to the candidate turn-round path, feasibility of the candidate turn-round path based on: statistical information about historical success rate of historical turn-rounds associated with the starting and target positions and the vehicle information, or statistical information about historical numbers of forward and backward movements of the historical turn-rounds associated with the starting and target positions and the vehicle information; and
determining a turn-round path based on the evaluation on the feasibility, and controlling the vehicle to turn round on the road according to the determined turn-round path,
wherein the determining, based at least partially on road information and vehicle information, a candidate turn-round path comprises:
selecting a plurality of candidate turn-round paths of a type of a highest priority in available turn-round paths, wherein a priority of a three-point turn-round path is higher than a priority of a U-turn, the priority of the U-turn is higher than a priority of a detour;
determining, for each candidate turn-round path in the plurality of candidate turn-round paths between the starting position and the target position, a moving cost related to a length of the each candidate turn-round path based at least partially on the road information and the vehicle information; and
selecting, based on the moving costs of the plurality of candidate turn-round paths, the candidate turn-round path from the plurality of candidate paths.
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