A method and apparatus for planning the trajectory of a vehicle, a computer readable storage medium, an electronic device, and a computer program product, which belong to the technical field of autonomous driving. The method for planning the trajectory of a vehicle comprises: acquiring an initial reference trajectory of a target vehicle in a target planning duration, the initial reference trajectory comprising an initial status quantity and initial control quantity of the target vehicle at at least one location point in the target planning duration; acquiring a reference lane trajectory; according to a geometric constraint condition and a dynamics constraint condition, using the reference lane trajectory and the initial status quantity and initial control quantity of the target vehicle at the at least one location point to determine a trajectory cost for the target vehicle, the dynamics constraint condition comprising any one or any combination of energy loss, an acceleration constraint, and an angular velocity constraint; and according to the trajectory cost for the target vehicle, adjusting the initial reference trajectory of the target vehicle to a target driving trajectory.
METHOD AND APPARATUS FOR PLANNING TRAJECTORY OF VEHICLE, STORAGE MEDIUM, AND DEVICE
VERFAHREN UND VORRICHTUNG ZUR PLANUNG DER TRAJEKTORIE EINES FAHRZEUGS, SPEICHERMEDIUM UND VORRICHTUNG
PROCÉDÉ ET APPAREIL DE PLANIFICATION DE TRAJECTOIRE DE VÉHICULE, SUPPORT DE STOCKAGE, ET DISPOSITIF
12.06.2024
Patent
Elektronische Ressource
Englisch
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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