The invention discloses a vehicle driving track planning method, system and device and a storage medium, and relates to the technical field of automatic driving. Establishing a cost function based on the trajectory smoothness of the candidate driving trajectory of the main vehicle, an interval obstacle distance and an interval reference line distance; and according to the track smoothness, the interval obstacle distance and the interval reference line distance of each candidate driving track of the main vehicle, evaluating each candidate driving track of the main vehicle based on a cost function, and determining a planned driving track of the main vehicle. The problem that in the prior art, when the cost function of the candidate driving track of the vehicle is constructed and the influence of the distance between the vehicle and the obstacle is considered, the accuracy of judging the influence of the non-linear driving obstacle is not enough is solved.

    本发明公开了一种车辆行驶轨迹规划方法、系统、设备及存储介质,涉及自动驾驶技术领域,该车辆行驶轨迹规划方法包括以下步骤:根据周围车辆预测轨迹和主车候选行驶轨迹,建立基于主车候选行驶轨迹的轨迹平滑性、间隔障碍物距离和间隔参考线距离的代价函数;根据各主车候选行驶轨迹的轨迹平滑性、间隔障碍物距离和间隔参考线距离,基于代价函数对各主车候选行驶轨迹评估,确定主车规划行驶轨迹。解决了现有技术中在构建车辆候选行驶轨迹的代价函数时,考虑与障碍物的间距影响时,存在对非直线行驶障碍物的影响判断准确性不够的问题。


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    Title :

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


    Additional title:

    一种车辆行驶轨迹规划方法、系统、设备及存储介质


    Contributors:
    QIAO MIAOMIAO (author) / WANG RONGRONG (author) / FU YUANYI (author) / YAN YUXIN (author) / HAO YI (author) / YANG YUE (author)

    Publication date :

    2023-09-12


    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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