The invention provides a trajectory planning method and device and electronic equipment, and relates to the technical field of data processing, in particular to the technical field of automatic driving. According to the specific implementation scheme, under the condition that interaction between a vehicle and a first obstacle is detected, a first state at a first moment and M first behavior combinations in a first time period are obtained; based on the first state and the M first behavior combinations, determining M second states at a second moment when the first time period ends; a first game tree is constructed based on the first state and M second states, the first state is the state of a first node of the first game tree, the second state is the state of a second node of the first game tree, and the second node is a child node of the first node; and when it is detected that interaction between the vehicle and the first obstacle is ended, planning a driving track of the vehicle based on the first game tree.

    本公开提供了一种轨迹规划方法、装置及电子设备,涉及数据处理技术领域,具体涉及自动驾驶技术领域。具体实现方案为:在检测到车辆与第一障碍物存在交互的情况下,获取第一时刻下的第一状态和第一时间段内的M个第一行为组合;基于第一状态和M个第一行为组合,确定第一时间段结束时的第二时刻下的M个第二状态;基于第一状态和M个第二状态构建第一博弈树,第一状态为第一博弈树的第一节点的状态,第二状态为第一博弈树的第二节点的状态,第二节点为第一节点的子节点;在检测到车辆与第一障碍物交互结束的情况下,基于第一博弈树,对车辆的行驶轨迹进行规划。


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    Titel :

    Track planning method and device and electronic equipment


    Weitere Titelangaben:

    轨迹规划方法、装置及电子设备


    Beteiligte:
    ZHAO HAOWEI (Autor:in) / LIU CHANGCHUN (Autor:in)

    Erscheinungsdatum :

    03.02.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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