The invention relates to an automatic driving technology, in particular to a method and a device for planning a vehicle driving track in an application scene where vulnerable road users appear. The method for planning the driving track of the vehicle according to one aspect of the invention comprises the following steps of: determining the type of a vulnerable road user in the motion direction of an own vehicle and a predicted motion track of the vulnerable road user in a next time period; determining a potential activity area of the vulnerable road user in the next time period based on the type of the vulnerable road user and the predicted motion trail; generating an avoidance transition area surrounding the potential activity area; and selecting a candidate planning trajectory with the minimum cost from a plurality of candidate planning trajectories, which are about the self-vehicle in the next time period and can bypass the potential activity area, as an optimized planning trajectory, the candidate planning trajectory passing through the avoidance transition area has additional avoidance cost compared with the candidate planning trajectory not passing through the avoidance transition area.

    本申请涉及自动驾驶技术,特别涉及用于在出现弱势道路使用者的应用场景下规划车辆行驶轨迹的方法和装置。按照本申请一个方面的用于规划车辆行驶轨迹的方法包括下列步骤:确定在自我车辆运动方向上的弱势道路使用者的类型和该弱势道路使用者在下一时间段内的预测的运动轨迹;基于弱势道路使用者的类型和预测的运动轨迹确定弱势道路使用者在下一时间段内的潜在活动区域;生成包围潜在活动区域的避让过渡区域;从多条关于自我车辆在下一时间段内的、能够绕开潜在活动区域的候选规划轨迹中选择具有最小代价的候选规划轨迹作为优化的规划轨迹,其中,穿越避让过渡区域的候选规划轨迹与未穿越避让过渡区域的候选规划轨迹相比具有额外的避让代价。


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    Title :

    Method and device for planning driving track of vehicle


    Additional title:

    用于规划车辆行驶轨迹的方法和装置


    Contributors:
    CAI XIONGFENG (author) / CHEN JIONG (author)

    Publication date :

    2022-12-09


    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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