The invention discloses a vehicle motion planning method, device and equipment and a computer storage medium. The vehicle motion planning method comprises the steps that in a planning period, initial motion data of preset motion parameters and a preset parameter value associated with each preset control parameter in a plurality of preset control parameters are obtained, the safe driving distance is determined, and the preset parameter values comprise the preset parameter value used for being matched with the acceleration state; according to the initial motion data and the preset parameter values, candidate driving distances corresponding to the preset parameter values are determined; under the condition that the candidate driving distance and the safe driving distance meet a first preset condition, the preset motion parameters are planned, target motion data are obtained, and the first preset condition is used for indicating that motion planning can be conducted according to the acceleration state. According to the embodiment of the invention, sudden change of the planning value of the preset motion parameter can be effectively avoided.

    本申请公开了一种车辆运动规划方法、装置、设备及计算机存储介质。其中,车辆运动规划方法,包括:在一个规划周期中,获取预设运动参数的初始运动数据,以及多个预设控制参数中每一所述预设控制参数关联的预设参数值,并确定安全行驶距离,其中,所述预设参数值包括用于匹配加速状态的预设参数值;依据所述初始运动数据以及各个所述预设参数值,分别确定各个所述预设参数值对应的候选行驶距离;在所述候选行驶距离与所述安全行驶距离之间满足第一预设条件的情况下,对所述预设运动参数进行规划,得到目标运动数据,其中,所述第一预设条件用于指示能够按加速状态进行运动规划。本申请实施例能够有效避免预设运动参数的规划数值突变的情况。


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    Title :

    Vehicle motion planning method, device and equipment and computer storage medium


    Additional title:

    车辆运动规划方法、装置、设备及计算机存储介质


    Contributors:
    WU GUIWEN (author) / YANG MINGFANG (author) / XIAO PEIJUN (author)

    Publication date :

    2022-06-07


    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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