The invention provides a trajectory planning method and device, electronic equipment, a medium and a vehicle, and relates to the technical field of data processing, in particular to the technical field of automatic driving. According to the specific implementation scheme, obstacles in a preset range in front of a vehicle are detected, and the advancing direction of the vehicle is determined according to the obstacles in the preset range. And continuously expanding position points which can be reached under the condition that the vehicle does not collide with the obstacle from the current position of the vehicle along the advancing direction of the vehicle until the expanded position points meet specified conditions, and taking the position points meeting the specified conditions as track end points. Wherein the specified condition is that the track distance with the current position of the vehicle is larger than a preset first distance, or the linear distance with the planned terminal point is smaller than or equal to a preset second distance. And then taking a passing track from the current position of the vehicle to the track end point as a to-be-driven track of the vehicle. Therefore, the application range of the exploration advancing function is expanded.

    本公开提供了一种轨迹规划方法、装置、电子设备、介质及车辆,涉及数据处理技术领域,尤其涉及自动驾驶技术领域。具体实现方案为:检测车辆前方预设范围内的障碍物,并根据预设范围内的障碍物,确定车辆的前进方向。之后沿车辆的前进方向,从车辆当前位置开始连续拓展车辆不与障碍物碰撞的情况下可到达的位置点,直至拓展得到的位置点满足指定条件,则将满足指定条件的位置点作为轨迹终点。其中,指定条件为与车辆当前位置之间的轨迹距离大于预设第一距离,或者与规划终点之间的直线距离小于等于预设第二距离。然后将从车辆当前位置拓展至轨迹终点经过的轨迹,作为车辆的待行驶轨迹。从而扩大了探索前进功能的应用范围。


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    Titel :

    Track planning method and device, electronic equipment, medium and vehicle


    Weitere Titelangaben:

    一种轨迹规划方法、装置、电子设备、介质及车辆


    Beteiligte:
    FENG HAO (Autor:in) / SHANGGUAN LANTIAN (Autor:in)

    Erscheinungsdatum :

    2023-04-21


    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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