The invention provides a detouring trajectory planning method, device and equipment and a storage medium, and relates to the technical field of intelligent driving, and the method comprises the steps: constructing a longitudinal feasible space diagram corresponding to a target vehicle detouring an obstacle in a future preset time period, and obtaining a detouring reference speed of the target vehicle based on the longitudinal feasible space diagram; based on the bypassing reference speed, sampling and evaluating a feasible space corresponding to the bypassing behavior stage of the target vehicle, and determining a driving reference path; and according to the longitudinal feasible space diagram and the driving reference path, determining a target detouring trajectory of the target vehicle in a future preset duration. The driving risk can be greatly reduced, the driving efficiency is improved, driving is more flexible, and the comfort is higher.
本申请提供一种绕行轨迹规划方法、装置、设备及存储介质,涉及智能驾驶技术领域,该绕行轨迹规划方法包括:构建目标车辆在未来预设时长内绕行障碍物对应的纵向可行空间图,基于纵向可行空间图,获得目标车辆的绕行参考速度;基于绕行参考速度,对目标车辆的绕行行为阶段对应的可行空间进行采样和评估,确定行驶参考路径;根据纵向可行空间图和行驶参考路径,确定目标车辆在未来预设时长内的目标绕行轨迹。本申请能够大大降低行车风险,提升行车效率,行车更加灵活,舒适性更强。
Detouring trajectory planning method, device and equipment and storage medium
绕行轨迹规划方法、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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