Route planning method and device based on grid map, equipment and storage medium

The invention discloses a path planning method, device and equipment based on a grid map and a storage medium, and relates to the technical field of automatic driving systems.The path planning method based on the grid map comprises the steps that laser radar point cloud data is converted into the grid map; determining a coordinate conversion relationship between the laser radar point cloud data and the grid map; and converting the grid map based on the coordinate conversion relation to perform path planning. According to the invention, the raster map can correspond to the point cloud data, so that path planning can be carried out in the raster map. 本发明公开了一种基于栅格地图的路径规划方法、装置、设备及存储介质，涉及自动驾驶系统技术领域，基于栅格地图的路径规划方法，包括：将激光雷达点云数据转换为栅格地图；确定激光雷达点云数据与栅格地图之间坐标转换关系；基于坐标转换关系对栅格地图进行变换，以进行路径规划。本发明可使栅格地图与点云数据对应，从而能够在栅格地图中进行路径规划。