The invention discloses a vehicle driving track planning method and device, a vehicle and a storage medium, and the method comprises the steps: determining a track planning region of a grid map according to the current position of the vehicle, and constructing the grid map in the track planning region; acquiring obstacle information, and calculating obstacle static potential energy and obstacle dynamic potential energy of each grid in the grid map according to the obstacle information; determining a candidate driving track score of each scattering point in the grid map according to the static potential energy and the dynamic potential energy of the obstacle; and planning a driving track of the vehicle in the track planning area according to the candidate track score. According to the technical scheme, the accuracy of the planned driving track of the vehicle is improved, so that when the vehicle runs according to the planned driving track of the vehicle, the possibility that the vehicle collides with an obstacle is reduced, the collision risk of the vehicle is reduced, the intelligence and safety of the vehicle are improved, and the driving safety of the vehicle is better guaranteed.

    本发明公开了一种车辆的行驶轨迹规划方法、装置、车辆和存储介质,该方法包括:根据车辆的当前位置确定栅格地图的轨迹规划区域,并在轨迹规划区域内构建栅格地图;获取障碍物信息,并根据障碍物信息计算栅格地图中的各个栅格的障碍物静态势能和障碍物动态势能;根据障碍物静态势能和障碍物动态势能,确定栅格地图中的各个撒点的候选行驶轨迹得分;根据候选轨迹得分规划车辆在轨迹规划区域内的行驶轨迹。即本发明的技术方案,提高所规划的车辆的行驶轨迹的准确性,进而车辆按所规划的车辆的行驶轨迹行驶时,减少与障碍物发生碰撞的可能性,降低车辆的碰撞风险,增加车辆的智能性和安全性,更好地保障车辆的行驶安全。


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    Title :

    Vehicle driving track planning method and device, vehicle and storage medium


    Additional title:

    车辆的行驶轨迹规划方法、装置、车辆和存储介质


    Contributors:
    GAO YANXI (author) / PANG ZHUYIN (author) / CHEN BO (author) / YOON YOUNG-BIN (author)

    Publication date :

    2023-09-05


    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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