Momenta (suzhou) Technology Co., Ltd.

Xu Ran

Rui Wang

Bin Wang

Si Liu

The present invention provides a method and an apparatus for determining travel path bound, a vehicle, a storage medium and a terminal. The method includes: under a first coordinate system, according to contour point positions respectively corresponding to a vehicle and an obstacle in a path trajectory, determining a collision-anticipated overlap corner position; based on a trajectory normal of the vehicle and the overlap corner position, determining a contour corner overlap line and a decision corner reference line; if a first intersection position between the contour corner overlap line and the decision corner reference line is not located on the contour edge, based on the overlap corner position, the decision corner reference line and contour corner positions on the contour corner overlap line, determining a collision-avoiding distance of the vehicle; under a second coordinate system, based on the collision-avoiding distance, generating a travel path bound.

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Suzhou, China

Xu Ran