The invention discloses a vehicle decision planning method and device, electronic equipment and a storage medium, the method is applied to a decision planning module in an automatic driving system, and the method comprises the steps: obtaining the information of an obstacle in front of a vehicle and the information of a current driving lane of the vehicle; and on the basis of the expansion factor of the transverse or longitudinal change of the obstacle in the lane, according to the lane information and the information of the obstacle, determining the own vehicle planning paths corresponding to the obstacle at different moving speeds. According to the invention, the safety, comfort and driving efficiency of the automatic driving vehicle, especially the automatic driving commercial vehicle, in the overtaking scene can be further improved.

    本申请公开了一种车辆决策规划方法、装置及电子设备、存储介质,所述方法应用于自动驾驶系统中的决策规划模块,所述方法包括:获取自车前方障碍物的信息和自车当前行驶的车道信息;基于所述障碍物在车道中发生横向或纵向变化的膨胀因子,根据所述车道信息和所述障碍物的信息,确定所述障碍物在不同移动速度时对应的自车规划路径。通过本申请可进一步提升自动驾驶车辆,特别是自动驾驶商用车在应对超车场景时的安全性、舒适性和行驶效率。


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    Title :

    Vehicle decision planning method and device, electronic equipment and storage medium


    Additional title:

    车辆决策规划方法、装置及电子设备、存储介质


    Contributors:
    YAO YONGZE (author) / DING FENG (author) / ZHANG DONGHAO (author) / TIAN SHAN (author) / JIA CHUNHUI (author)

    Publication date :

    2023-06-06


    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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