The invention discloses an initial trajectory planning method, device and equipment and a storage medium, and the method comprises the steps: obtaining the vehicle initial position information, the vehicle running speed and the first target trajectory of a vehicle in response to a target control instruction for enabling the vehicle to run along the first target trajectory in a target lane; generating a second target trajectory based on the vehicle initial position information, the vehicle driving speed and the first target trajectory, so that the vehicle merges into the first target trajectory from the vehicle initial position along the second target trajectory; after the second target track is generated, the second target track is updated according to the vehicle initial position information, the vehicle running speed obtained in real time and the first target track. The method is not limited by the initial state condition of the vehicle, and can quickly and stably merge into the first target trajectory along the planned second target trajectory after the initial trajectory planning function is activated at any position of the lane.

    本发明公开了一种初始轨迹规划方法、装置、设备及存储介质,其中,方法包括:响应于用于使自车车辆在目标车道内沿第一目标轨迹行驶的目标控制指令,获取自车的车辆初始位置信息、车辆行驶速度和第一目标轨迹;基于车辆初始位置信息、车辆行驶速度和第一目标轨迹生成第二目标轨迹,以使自车从车辆初始位置沿第二目标轨迹并入第一目标轨迹;在生成第二目标轨迹之后,根据车辆初始位置信息以及实时获取的车辆行驶速度和第一目标轨迹更新第二目标轨迹。本发明不受车辆初始状态条件限制,可以在车道任一位置激活初始轨迹规划功能后沿规划出的第二目标轨迹快而平稳的并入第一目标轨迹。


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    Title :

    Initial trajectory planning method and device, equipment and storage medium


    Additional title:

    一种初始轨迹规划方法、装置、设备及存储介质


    Contributors:
    HE ZHONGHUA (author) / WU YANFENG (author) / JIANG TAO (author) / PAN HAO (author) / YANG TAIPING (author) / CAO RUNZI (author) / YANG WENGUANG (author) / HAN XIAOFANG (author) / WANG TENG (author)

    Publication date :

    2022-07-01


    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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