The invention discloses a trajectory planning method and device, terminal equipment and a computer readable storage medium. The trajectory planning method comprises the following steps: acquiring surrounding environment information of a target vehicle; when the driving direction of the target vehicle is a waiting scene, determining a front vehicle which is closest to the target vehicle and is in a static state on a lane where the target vehicle is located according to the position information of the surrounding vehicles, and taking the front vehicle as a to-be-analyzed vehicle; determining the relative position of the to-be-analyzed vehicle according to the position information of the surrounding vehicles, and/or determining whether the to-be-analyzed vehicle has an adjacent vehicle; determining a waiting state of the to-be-analyzed vehicle based on the relative position of the to-be-analyzed vehicle and/or whether the to-be-analyzed vehicle has an adjacent vehicle; and planning the track of the target vehicle according to the waiting state of the vehicle to be analyzed. According to the technical scheme, the trajectory of the vehicle can be reasonably planned in the intersection scene, so that the accuracy and rationality of trajectory planning are improved.

    本发明公开了一种轨迹规划方法及装置、终端设备、计算机可读存储介质,所述轨迹规划方法包括:获取目标车辆的周围环境信息;在目标车辆的行驶方向上为等待情景时,根据周围车辆的位置信息确定在目标车辆所处车道上与目标车辆最近且处于静止状态的前方车辆,以作为待分析车辆;根据周围车辆的位置信息确定待分析车辆的相对位置,和/或确定待分析车辆是否存在相邻车辆;基于待分析车辆的相对位置和/或待分析车辆是否存在相邻车辆确定待分析车辆的等待状态;根据待分析车辆的等待状态对所述目标车辆的轨迹进行规划。使用上述技术方案能够在路口场景下对车辆的轨迹进行合理地规划,以提高轨迹规划的准确性和合理性。


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    Title :

    Track planning method and device, terminal equipment and computer readable storage medium


    Additional title:

    轨迹规划方法及装置、终端设备、计算机可读存储介质


    Contributors:
    HUANG CHAO (author) / YU HONGYANG (author) / ZENG JINGXIANG (author) / LI LUOHE (author)

    Publication date :

    2023-03-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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