本公开提供了一种轨迹规划方法、装置、设备、存储介质及自动驾驶车辆,涉及人工智能技术领域,尤其涉及无人驾驶、自动驾驶、智能交通等领域。具体实现方案为:根据车辆的当前位置和规划路径,在所述规划路径中确定第一规划轨迹点,所述第一规划轨迹点为所述当前位置的下一个规划轨迹点;根据所述当前位置的障碍物信息和所述第一规划轨迹点确定所述第一规划轨迹点对应的多个待选轨迹点;获取所述多个待选轨迹点的采样信息;根据所述待选轨迹点的采样信息和所述障碍物信息,在所述多个待选轨迹点中确定目标轨迹点,并控制所述车辆向所述目标轨迹点行驶。提高了轨迹规划中车辆对于环境的快速应变能力。
The invention provides a trajectory planning method, device and equipment, a storage medium and an automatic driving vehicle, and relates to the technical field of artificial intelligence, in particular to the fields of unmanned driving, automatic driving, intelligent traffic and the like. According to the specific implementation scheme, a first planning track point is determined in a planning path according to the current position and the planning path of a vehicle, and the first planning track point is the next planning track point of the current position; determining a plurality of track points to be selected corresponding to the first planning track point according to the obstacle information of the current position and the first planning track point; acquiring sampling information of the plurality of track points to be selected; and according to the sampling information of the to-be-selected track points and the obstacle information, determining a target track point in the plurality of to-be-selected track points, and controlling the vehicle to run towards the target track point. And the rapid strain capacity of the vehicle to the environment in trajectory planning is improved.
轨迹规划方法、装置、设备、存储介质及自动驾驶车辆
2024-07-16
Patent
Electronic Resource
Chinese
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 |