The invention discloses a vehicle trajectory planning method and device, a storage medium and a vehicle. The method comprises the steps: acquiring lateral deviation of a vehicle to a lane line, the lateral speed of the vehicle relative to the lane line and the lateral acceleration of the vehicle relative to the lane line at each of a starting point position and a terminal point position; acquiringa pre-designed trajectory equation, and performing fitting processing on the trajectory equation based on the lateral acceleration; and solving the fitted trajectory equation based on the lateral deviation, the lateral speed and the lateral acceleration to obtain a trajectory curve, and performing automatic driving based on the trajectory curve to realize refined planning of a vehicle trajectoryand ensure comfort, safety and convenience of an automatic driving function.

    本发明公开了一种车辆的轨迹规划方法、装置、存储介质及汽车。该方法包括:获取在起点位置及终点位置时车辆到车道线的侧向偏差、车辆相对于车道线的侧向速度以及车辆相对于车道线的侧向加速度;获取预先设计的轨迹方程,并基于侧向加速度对所述轨迹方程进行拟合处理;基于所述侧向偏差、侧向速度和侧向加速度求解拟合后的轨迹方程,得到轨迹曲线,以基于所述轨迹曲线进行自动驾驶,实现车辆轨迹的精细化规划,同时保证了自动驾驶功能的舒适性、安全性和便捷性。


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    Title :

    Vehicle trajectory planning method and device, storage medium and vehicle


    Additional title:

    一种车辆的轨迹规划方法、装置、存储介质及汽车


    Contributors:
    SHANG BINGXU (author) / LIU YANG (author) / CHEN ZHIXIN (author) / WANG HONGFENG (author) / CHEN JIE (author) / LI YUJI (author) / XU CHAOWEN (author)

    Publication date :

    2020-05-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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