The invention relates to the field of automatic driving, in particular to a vehicle trajectory planning method, a vehicle trajectory planning device, a storage medium and electronic equipment. The vehicle trajectory planning method comprises the following steps: taking a current position of a vehicle as a starting point of a planning trajectory curve; performing space-time grid sampling based on the starting point to obtain end points of the plurality of planning trajectory curves, so as to obtain the plurality of planning trajectory curves according to the starting point and the plurality of end points; evaluating the plurality of planning trajectory curves according to the planning trajectory cost function to obtain a trajectory evaluation result; the planning trajectory cost function comprises a first cost function constructed based on a forward prediction result of a driver target trajectory in a co-driving system of the vehicle and a second cost function constructed based on a backward estimation result of the driver target trajectory; and determining a target planning trajectory curve from the plurality of planning trajectory curves based on the evaluation result. According to the method provided by the invention, the problem of quick synchronization of the human-machine target trajectory under the decision conflict condition in the human-machine co-driving system can be solved.

    本公开涉及自动驾驶领域,具体涉及一种车辆轨迹规划方法、车辆轨迹规划装置、存储介质及电子设备。该车辆轨迹规划方法包括将车辆的当前位置作为规划轨迹曲线的起点;基于起点进行时空网格采样得到多个规划轨迹曲线的终点,以根据起点和多个终点得到多条规划轨迹曲线;根据规划轨迹代价函数对多条规划轨迹曲线进行评估得到轨迹评估结果;规划轨迹代价函数包括基于车辆的共驾系统中驾驶员目标轨迹的前向预测结果构建的第一代价函数和基于驾驶员目标轨迹的后向估计结果构建的第二代价函数;基于评估结果从多条规划轨迹曲线中确定一目标规划轨迹曲线。本公开提供的方法能够解决人机共驾系统中决策冲突条件下的人机目标轨迹快速同步问题。


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    Title :

    Vehicle trajectory planning method and device, storage medium and electronic equipment


    Additional title:

    车辆轨迹规划方法、装置、存储介质及电子设备


    Contributors:
    XU XIN (author)

    Publication date :

    2022-06-10


    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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