The invention provides a U-turn trajectory planning method, device and equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the technical field of unmanned driving and planning control. According to the implementation scheme, firstly, scene information which corresponds to the current turning position of a target vehicle and comprises lane information and obstacle information is obtained, and a Cartesian Cartesian coordinate system is constructed based on the scene information; and then obtaining the executable maximum curvature of the target vehicle so as to determine a curvature sampling interval according to the maximum curvature. Therefore, according to the current target position of the target vehicle in the Cartesian coordinate system and the final position after turning around obtained through pre-planning, curvature sampling is carried out in the curvature sampling interval, and multiple turning-around paths are generated based on the obtained sampling curvature. And finally, determining a U-turn driving track of the target vehicle from the plurality of obtained U-turn paths.

    本公开提供了一种掉头轨迹规划方法、装置、设备及存储介质,涉及人工智能技术领域,尤其涉及无人驾驶、规划控制技术领域。实现方案为:首先获取目标车辆当前掉头位置对应的包括车道信息和障碍物信息的场景信息,以基于场景信息构建笛卡尔Cartesian坐标系。然后再获取目标车辆可执行的最大曲率,以根据最大曲率确定曲率采样区间。从而,根据目标车辆在Cartesian坐标系中当前的目标位置和预先规划得到的掉头后的终点位置,从曲率采样区间中进行曲率采样,以基于得到的采样曲率生成多条掉头路径。最终,从得到的多条掉头路径中确定目标车辆的掉头行驶轨迹。


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    Title :

    Turn-around trajectory planning method, device and equipment and storage medium


    Additional title:

    掉头轨迹规划方法、装置、设备及存储介质


    Contributors:
    LIANG QI (author) / LIU ZHENGYU (author) / XIA ZHONGPU (author)

    Publication date :

    2023-02-28


    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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