The invention provides a vehicle local trajectory planning method, which comprises the steps that when it is determined that a vehicle runs in a current lane, a first reference trajectory of the lane where the vehicle is located is acquired from a map, and the first reference trajectory comprises a plurality of first reference trajectory points; selecting at least two target reference trajectory points from the plurality of first reference trajectory points according to the current position of the vehicle; and fitting each target reference trajectory point to obtain a local trajectory, so that the vehicle travels according to the local trajectory. The invention further provides electronic equipment and a vehicle. According to the vehicle local trajectory planning method, the electronic equipment and the vehicle, the at least two reference trajectory points on the first reference trajectory line are selected, and the at least two reference trajectory points are fitted to obtain a unique local trajectory, so that construction of a tedious loss function is avoided, the process is simple, the trajectory is easier to obtain in time, and the vehicle local trajectory planning efficiency is improved. And the requirement of automatic driving on real-time performance can be met.

    本申请提供一种车辆局部轨迹规划方法,包括:在确定所述车辆保持当前车道行驶时,从地图获取所述车辆所在车道的第一参考轨迹线,所述第一参考轨迹线包括多个第一参考轨迹点;根据所述车辆的当前位置,从所述多个第一参考轨迹点中选取至少两个目标参考轨迹点;以及对各个目标参考轨迹点进行拟合,得到局部轨迹,以使所述车辆根据所述局部轨迹行驶。本申请还提供电子设备及车辆。本申请的车辆局部轨迹规划方法、电子设备及车辆,通过选取所述第一参考轨迹线上的至少两个参考轨迹点,并对该至少两个参考轨迹点进行拟合能够得到唯一的一条局部轨迹,避免了构建繁琐的损失函数,流程简单,更易及时获取轨迹,能够满足自动驾驶对实时性的要求。


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    Titel :

    Vehicle local trajectory planning method, electronic equipment and vehicle


    Weitere Titelangaben:

    车辆局部轨迹规划方法、电子设备及车辆


    Beteiligte:
    MEI YUANYUAN (Autor:in) / YANG DONGSHENG (Autor:in) / LIU KE (Autor:in) / WANG HUAN (Autor:in) / LIANG KAIYANG (Autor:in)

    Erscheinungsdatum :

    2023-11-07


    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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