The invention provides a track re-planning method and device, electronic equipment and a readable storage medium, and relates to the technical field of artificial intelligence such as automatic driving, intelligent transportation and automatic parking. The track re-planning method comprises the following steps: determining a current stopping end point according to observation information acquired by a target object at a current moment; under the condition that it is determined that the current stopping end point and the original stopping end point meet the preset requirement, a braking track point is determined from track points contained in an original planned track, and the braking track point is added to a braking point buffer queue; and according to the braking point buffer queue, the driving position of the target object at the current moment and the current parking end point, a target re-planning track is obtained, so that the target object drives into the target parking area according to the target re-planning track to be parked. According to the invention, the efficiency and accuracy of trajectory re-planning can be improved.
本公开提供一种轨迹重规划的方法、装置、电子设备与可读存储介质,涉及自动驾驶、智能交通、自动泊车等人工智能技术领域。其中,轨迹重规划的方法包括:根据目标对象在当前时刻采集的观测信息确定当前停靠终点;在确定所述当前停靠终点与原停靠终点满足预设要求的情况下,从原规划轨迹包含的轨迹点中确定刹停轨迹点,将所述刹停轨迹点添加到刹停点缓存队列;根据所述刹停点缓存队列、所述目标对象在当前时刻的行驶位置与所述当前停靠终点,得到目标重规划轨迹,使得所述目标对象根据所述目标重规划轨迹行驶到所述目标停靠区域内以进行停靠。本公开能够提升轨迹重规划的效率与准确性。
Track replanning method and device, electronic equipment and readable storage medium
轨迹重规划的方法、装置、电子设备与可读存储介质
2023-10-13
Patent
Electronic Resource
Chinese
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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|NTRS | 1988
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