The invention relates to a vehicle trajectory planning method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring a current speed and a reference speed corresponding to at least one target traffic object; the target traffic object is a traffic object moving around the target vehicle, and the reference speed is determined based on historical movement environment information of the target traffic object; determining an abnormal traffic object from the target traffic objects based on a speed difference between the reference speed and the current speed; generating a motion loss based on the current speed and the reference speed corresponding to the abnormal traffic object, and generating a current efficiency influence degree corresponding to the abnormal traffic object based on the motion loss; and determining a target trajectory from the candidate trajectories corresponding to the target vehicle based on the current efficiency influence degree. By adopting the method, the efficiency evaluation time can be prolonged, so that the evaluation is more stable, and the accuracy of evaluating the trajectory efficiency of the automatic driving vehicle is improved.

    本申请涉及一种车辆轨迹规划方法、装置、计算机设备、存储介质和计算机程序产品。所述方法包括:获取至少一个目标交通对象对应的当前速度和参考速度;目标交通对象是在目标车辆周围运动的交通对象,参考速度是基于目标交通对象的历史运动环境信息确定的;基于参考速度和当前速度之间的速度差异,从各个目标交通对象中确定异常交通对象;基于异常交通对象对应的当前速度和参考速度,生成运动损失,基于运动损失生成异常交通对象对应的当前效率影响度;基于当前效率影响度,从目标车辆对应的各个候选轨迹中确定目标轨迹。采用本方法能够增加效率评估时间,使得评估更加稳定,从而提高对自动驾驶车辆轨迹效率评估的准确性。


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    Title :

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


    Additional title:

    车辆轨迹规划方法、装置、计算机设备和存储介质


    Contributors:

    Publication date :

    2022-11-01


    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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