The application discloses a driving trajectory planning method and device for automatic driving, equipment and a medium, and relates to the automatic driving technology. According to the specific implementation scheme, the method comprises the steps: recognizing fixed route vehicles around an automatic driving vehicle; acquiring route information of the identified fixed route vehicle and information of a next to-be-parked station from a fixed route map layer of a high-precision map; and predicting the driving route of the vehicle with the fixed route by combining the route information and thestation information, and determining the driving trajectory of the automatic driving vehicle based on the prediction result. According to the embodiment of the application, the driving intention and trend of the fixed route vehicle are predicted in advance; therefore, the driving trajectory of the automatic driving vehicle is controlled, long-time waiting is avoided, unnecessary high-risk accidents such as collision, scratching and rear-end collision are reduced, the probability of operations such as sudden braking and sudden steering wheel turning is reduced, and stable operation of the automatic driving vehicle is guaranteed.
本申请公开了一种用于自动驾驶的行驶轨迹规划方法、装置、设备和介质,涉及自动驾驶技术。具体实现方案为:对自动驾驶车辆周围的固定线路车辆进行识别;从高精地图的固定线路图层中,获取所述识别出的固定线路车辆的线路信息和下一个待停靠的站点信息;结合所述线路信息和站点信息,对所述固定线路车辆的行驶路线进行预测,并基于预测的结果确定所述自动驾驶车辆的行驶轨迹。本申请实施例通过提前预测出固定线路车辆的行驶意图和走向,从而控制自动驾驶车辆的行驶轨迹,避免长时间等待,减少不必要的碰撞、剐蹭、追尾等高风险事故的发生,降低了急刹、急打方向盘等操作的概率,保障了自动驾驶车辆的平稳运行。
Driving trajectory planning method and device, equipment and medium for automatic driving
用于自动驾驶的行驶轨迹规划方法、装置、设备和介质
08.09.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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