The invention provides a driving track planning method, device and equipment and a storage medium, and relates to the technical field of intelligent driving, and the driving track planning method comprises the steps: determining an expected interaction decision between a target vehicle and an obstacle in a future preset time range, and obtaining a driving track of the target vehicle based on the expected interaction decision; and constructing a longitudinal feasible space diagram of the target vehicle corresponding to a future preset time range, obtaining a reference speed of the target vehicle based on the longitudinal feasible space diagram and a first preset cost function, and determining a target trajectory of the target vehicle in the future preset time range based on the reference speed. The optimal path can be obtained more accurately, the reasonability and reliability of the driving track planning result are improved, the driving efficiency is improved, and the driving experience is improved.
本申请提供一种行车轨迹规划方法、装置、设备及存储介质,涉及智能驾驶技术领域,该行车轨迹规划方法包括:确定目标车辆在未来预设时间范围内与障碍物的期望交互决策,基于期望交互决策,构建目标车辆对应未来预设时间范围的纵向可行空间图,基于纵向可行空间图和第一预设代价函数,获得目标车辆的参考速度,基于参考速度,确定目标车辆在未来预设时间范围内的目标轨迹。本申请能够更加准确地获得最优路径,提升行车轨迹规划结果的合理性和可靠性,提升驾驶效率,改善行车体验。
Driving track planning method, device and equipment and storage medium
行车轨迹规划方法、装置、设备及存储介质
2022-06-14
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 |
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