Guangzhou Xiaopeng Motors Technology Co., Ltd.

Guangzhou Xiaopeng Autopilot Technology Co., Ltd.

Jianming Lai

Qiang Tu

Shengjun Chen

Zhiguang Xiao

Peng Li

Heng Xia

Yubo Huang

Ya Huang

Xueling Guang

Wennan Chai

Hongjun Li

Shaofeng Jiang

Zhongyuan Liu

Xuefei Zhang

A path planning method, system, and device for autonomous driving are provided, where the method includes: acquiring environment perception information and vehicle positioning and navigation information, where the environment perception information includes obstacle information, roadside information, and lane line information, and the vehicle positioning and navigation information includes a vehicle pose and a target route; generating sub-paths according to the environment perception information and the vehicle positioning and navigation information, to obtain candidate sub-paths meeting vehicle constraints; performing a collision detection on the candidate sub-paths meeting the vehicle constraints, to obtain collision-free candidate sub-paths; performing a sub-path search on the collision-free candidate sub-paths by using an A* search algorithm; and obtaining, according to a result of the sub-path search, a local path of a vehicle.

Path planning method, system and device for autonomous driving

Provided are a method, apparatus and system for detecting obstacle collision in an automatic parking path. The method includes: geometrically performing an obstacle collision detection in a circular arc path and/or an obstacle collision detection in a straight line path by using a path contour, a vehicle contour and an obstacle contour. The system includes a collision detection module for geometrically performing detection of obstacle collision in a circular arc path and/or detection of obstacle collision in a straight line path by using a path contour, a vehicle contour and an obstacle contour. The apparatus includes: a memory and a processor configured for geometrically performing detection of obstacle collision in a circular arc path and/or detection of obstacle collision in a straight line path by using a path contour, a vehicle contour and an obstacle contour.

Method, apparatus and system for detecting obstacle collision in automatic parking path

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Guangzhou, China

Jianming Lai