The embodiment of the invention discloses a vehicle trajectory optimization method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring current position information of a vehicle and an initial reference trajectory planned within a preset duration, determining feature constraint information of driving features of the vehicle in the initial reference trajectory, calculating basic cost of the initial reference trajectory, and identifying at least one target obstacle of the vehicle, calculating the obstacle cost of the initial reference trajectory according to the initial reference trajectory and the predicted driving trajectory of each target obstacle, calculating the final value cost of the initial reference trajectory according to the current system state and the target system state of the vehicle, and determining the global cost of the initial reference trajectory based on the basic cost, the obstacle cost and the final value cost;and updating the initial reference trajectory by using the global cost to obtain an updated reference trajectory, and controlling the vehicle to travel according to the updated reference trajectory. According to the scheme, the driving safety of the vehicle can be effectively improved.
本申请实施例公开了一种车辆轨迹优化方法、装置、电子设备和存储介质;本申请实施例可以获取车辆的当前位置信息以及在预设时长内规划的初始参考轨迹,确定车辆在初始参考轨迹中行驶特征的特征约束信息,计算初始参考轨迹的基本代价,识别该车辆的至少一个目标障碍物,根据初始参考轨迹和每个目标障碍物的预测行驶轨迹,计算初始参考轨迹的障碍物代价,根据车辆的当前系统状态和目标系统状态计算该初始参考轨迹的终值代价,基于该基本代价、障碍物代价和终值代价确定初始参考轨迹的全局代价,利用该全局代价对初始参考轨迹进行更新,得到更新后参考轨迹,根据更新后参考轨迹控制该车辆行驶。该方案可以有效地提高车辆行驶的安全性。
Vehicle trajectory optimization method and device, electronic equipment and storage medium
车辆轨迹优化方法、装置、电子设备和存储介质
23.02.2021
Patent
Elektronische Ressource
Chinesisch
IPC: | 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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