The invention relates to the field of automatic driving, in particular to the field of trajectory planning. The embodiment of the invention provides a trajectory planning method, which is applied to a vehicle for automatic driving. The trajectory planning method comprises a speed planning step of planning the moving speed of the vehicle on the planned path. In the speed planning step, when an intersection path exists between the planned path of the vehicle and the predicted path of the other vehicle, a speed obstacle block is constructed according to the planned path of the vehicle and the predicted path of the other vehicle, a repulsion potential field of the speed obstacle block is constructed by using a potential field function, and the moving speed of the vehicle is planned according to the repulsion potential field, the potential field function takes the probability that the other vehicle runs according to the predicted path as a constant, and the larger the value of the probability is, the higher the intensity of the repulsion potential field is. By adopting the trajectory planning method, the influence of other vehicle prediction trajectories with relatively small probability on the vehicle can be reduced, so that the speed of the vehicle cannot be too conservative, and the driving efficiency of the vehicle is improved.

    本申请涉及自动驾驶领域,具体而言涉及轨迹规划领域。本申请实施例提供一种轨迹规划方法,应用于进行自动驾驶的车辆。该轨迹规划方法包括规划车辆在规划路径上的移动速度的速度规划步骤。在速度规划步骤中,在车辆的规划路径与他车的预测路径间有交集路径时,根据车辆的规划路径与他车的预测轨迹构建速度障碍区块,使用势场函数构建速度障碍区块的排斥势场,据此规划出车辆的移动速度,其中,该势场函数以他车按预测路径行驶的概率为常量,该概率的值越大,排斥势场的强度也越强。采用该轨迹规划方法,能够减小概率较小的他车预测轨迹对车辆的影响,从而能够使车辆的速度不会过于保守,提高车辆的行驶效率。


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    Title :

    Trajectory planning method and device, computing equipment, moving object and storage medium


    Additional title:

    轨迹规划方法、装置、计算设备、移动体以及存储介质


    Contributors:
    ZHENG KAIYU (author)

    Publication date :

    2022-06-14


    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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