The invention provides a local trajectory planning method and device, equipment, a storage medium and a trajectory planning method. The local trajectory planning method comprises the following steps: acquiring self-vehicle information and environment information of an environment where a self-vehicle is located, and determining a driving scene where the self-vehicle is located based on the self-vehicle information and the environment information; making a driving decision according to the driving scene; performing longitudinal planning according to a decision result of the driving decision to obtain a local longitudinal track; performing transverse planning according to a decision result of the driving decision to obtain a local transverse track; and synthesizing the local longitudinal track and the local transverse track to obtain local track information. According to the method, the functions of car following, lane changing, obstacle avoiding and the like can be achieved, a real-time track sequence is provided for the control module, the requirement for computing resources is low, and the computing speed is high.

    本发明提供一种局部轨迹规划方法、装置、设备、存储介质以及轨迹规划方法。该局部轨迹规划方法包括:获取自车信息以及自车所处环境的环境信息,基于自车信息及环境信息确定自车所处的驾驶场景;根据驾驶场景进行行驶决策;根据行驶决策的决策结果进行纵向规划,得到局部纵向轨迹;根据行驶决策的决策结果进行横向规划,得到局部横向轨迹;以及合成局部纵向轨迹和局部横向轨迹,得到局部轨迹信息。根据本发明能实现跟车、换道、避障等功能,为控制模块提供实时轨迹序列,并且对于计算资源的要求较低,计算速度快。


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    Titel :

    Local trajectory planning method and device, equipment, storage medium and trajectory planning method


    Weitere Titelangaben:

    局部轨迹规划方法、装置、设备、存储介质以及轨迹规划方法


    Beteiligte:
    SHANG ZHIYING (Autor:in) / YOU HUAN (Autor:in)

    Erscheinungsdatum :

    2024-03-12


    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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