The invention relates to a vehicle driving planning method and device, equipment and a storage medium. According to the method, the action track analysis is performed on the at least one obstacle according to the obtained obstacle dynamic information, the driving decision information of the vehicle is obtained, and the driving decision information at least comprises at least one driving decision point and the vehicle driving strategy corresponding to each driving decision point; according to the driving decision information, tree search is performed on the at least one driving decision point, and the driving acceleration of the vehicle for the at least one driving decision point is planned, so that the vehicle driving strategy is obtained according to the driving acceleration, and the obtained vehicle driving speed is higher in precision. Compared with the prior art that the decision results of all the obstacles are output on the basis of obstacle filling and the vehicle driving speed is planned, the method avoids the situation that the current obstacle returns to the initial position for decision planning when no vehicle driving strategy exists, saves the time of vehicle speed planning, and improves the planning efficiency.

    本公开涉及一种车辆的行驶规划方法、装置、设备及存储介质。本公开通过根据获取的障碍物动态信息,对至少一个障碍物进行行动轨迹分析,得到车辆的行驶决策信息,该行驶决策信息至少包括至少一个行驶决策点以及每个行驶决策点对应的车辆行驶策略;根据行驶决策信息,对至少一个行驶决策点进行树搜索,规划车辆针对至少一个行驶决策点的行驶加速度,从而根据该行驶加速度得到车辆行驶策略,得到的车辆行驶速度精度更高,相较于现有技术在障碍物填充的基础上输出所有障碍物的决策结果,规划车辆行驶速度,本实施例避免了当前障碍物无车辆行驶策略时返回初始位置进行决策规划,节省了车辆速度规划的时间,提高了规划效率。


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    Titel :

    Vehicle driving planning method, device and equipment and storage medium


    Weitere Titelangaben:

    车辆的行驶规划方法、装置、设备及存储介质


    Beteiligte:
    ZHANG ZHICHEN (Autor:in) / TIAN XIAOSHENG (Autor:in) / ZHANG SHUAI (Autor:in)

    Erscheinungsdatum :

    2023-05-30


    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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