The invention discloses a path trajectory planning method and device based on automatic driving and a terminal. The method comprises the steps of: obtaining a first path planning track of a vehicle at the current moment, a first track equation corresponding to the first path planning track, a second path planning track of the vehicle at the previous moment and a second track equation corresponding to the second path planning track, wherein the previous moment is the moment of a preset time period before the current moment, and the first path planning track and the second path planning track are path planning tracks on the same road section; based on the first trajectory equation, the second trajectory equation and a preset planning rule, calculating a trajectory difference value between the first path planning trajectory and the second path planning trajectory; judging whether the track difference value is not greater than a preset threshold value; and if yes, fusing the first path planning track and the second path planning track to obtain a target path planning track so as to control the vehicle to run according to the target path planning track.

    本发明公开了一种基于自动驾驶的路径轨迹规划方法、装置及终端,所述的方法包括:获取当前时刻车辆的第一路径规划轨迹、与第一路径规划轨迹对应的第一轨迹方程、前一时刻车辆的第二路径规划轨迹和与第二路径规划轨迹对应的第二轨迹方程,其中,前一时刻为当前时刻之前预设时间段的时刻,第一路径规划轨迹和第二路径规划轨迹为同一路段上的路径规划轨迹;基于第一轨迹方程、第二轨迹方程和预设的规划规则,计算第一路径规划轨迹和第二路径规划轨迹的轨迹差值;判断轨迹差值是否不大于预设阈值;若是,则将第一路径规划轨迹和第二路径规划轨迹进行融合,得到目标路径规划轨迹,以控制车辆按照目标路径规划轨迹行驶。


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    Title :

    Path trajectory planning method, device and terminal based on automatic driving


    Additional title:

    一种基于自动驾驶的路径轨迹规划方法、装置及终端


    Contributors:
    LI FENGJUN (author) / ZHOU JIANGUANG (author) / QIN HONGZHOU (author) / ZHANG FEI (author) / ZHOU GUANGJUN (author)

    Publication date :

    2021-10-15


    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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