The embodiment of the invention provides an automatic driving vehicle pull-in track planning method, device and equipment, a medium and a vehicle. The trajectory planning method comprises the following steps: generating a plurality of to-be-selected flight ferry trajectories including a first flight ferry trajectory; under the condition that the first flight ferry trajectory does not meet the pull-in constraint condition, selecting an optimal flight ferry trajectory from the plurality of flight ferry trajectories to be selected; under the condition that the optimal flight ferry trajectory is not the first flight ferry trajectory, obtaining a transverse distance between a trajectory point on the optimal flight ferry trajectory and the target path; determining the position of a waiting point according to the transverse distance and the position of the target stop point; and issuing the optimal ferry track and the position of the waiting point so as to control the driving track of the automatic driving vehicle. Based on the waiting point determined by the method of the embodiment of the invention, the computing device can control the autonomous vehicle to run along the first ferry track, so that the situation that the autonomous vehicle is not stopped when running to the waiting point is avoided, and then the probability that the autonomous vehicle cannot change lanes to successfully enter a station subsequently is reduced.

    本公开实施例提供一种自动驾驶车辆进站轨迹规划方法、装置、设备、介质和车辆。轨迹规划方法,包括:生成包括第一航渡轨迹的多条待选航渡轨迹;在第一航渡轨迹不符合进站约束条件的情况下,在多条待选航渡轨迹中选择最优航渡轨迹;在最优航渡轨迹不是第一航渡轨迹的情况下,获取最优航渡轨迹上轨迹点与目标路径的横向距离;根据横向距离和目标停靠点的位置确定等候点的位置;下发最优航渡轨迹和等候点的位置,以实现对自动驾驶车辆的行驶轨迹控制。基于本公开实施例方法确定的等候点,计算设备可以控制自动驾驶车辆在沿第一航渡轨迹行驶时,避免行驶至等候点还未停车,继而减小造成后续无法换道成功进站的概率。


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    Title :

    Automatic driving vehicle pull-in track planning method, device and equipment, medium and vehicle


    Additional title:

    自动驾驶车辆进站轨迹规划方法、装置、设备、介质和车辆


    Contributors:

    Publication date :

    2023-03-31


    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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