The invention discloses a trajectory planning method and device, a server and a computer readable storage medium. The trajectory planning method comprises the steps that first surrounding environment information of a first target vehicle is acquired; determining at least one second target having an interaction relationship with the first target vehicle in the other targets according to the first surrounding environment information to form at least one target pair; predicting, for each target pair, at least one first trajectory of the first target vehicle and at least one second trajectory of the second target; predicting a third track of the first target vehicle and the occurrence probability of the third track according to the first track of the first target vehicle and the second track of the second target in each target pair; and selecting the optimal trajectory of the first target vehicle according to the occurrence probability of each third trajectory. According to the technical scheme, the calculation amount required by trajectory prediction can be reduced, so that the response speed of the unmanned vehicle is increased.
本发明公开了一种轨迹规划方法及装置、服务器、计算机可读存储介质,所述轨迹规划方法包括:获取第一目标车辆的第一周围环境信息;根据所述第一周围环境信息在所述其他目标中确定与所述第一目标车辆具有交互关系的至少一个第二目标,形成至少一个目标对;对于每一目标对,预测第一目标车辆的至少一个第一轨迹,以及预测第二目标的至少一个第二轨迹;根据各个目标对中第一目标车辆的第一轨迹以及第二目标的第二轨迹预测所述第一目标车辆的第三轨迹及其出现概率;根据各个第三轨迹的出现概率选取所述第一目标车辆的最优轨迹。使用上述技术方案能够减小轨迹预测所需的计算量,以提高无人驾驶车辆的响应速度。
Track planning method and device, server and computer readable storage medium
轨迹规划方法及装置、服务器、计算机可读存储介质
2022-11-01
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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