The invention discloses a trajectory planning method and device, a vehicle and a storage medium, and relates to the technical field of vehicles. The method comprises the following steps: acquiring a first planned trajectory output by a trajectory generation model; evaluating the first planning trajectory, and performing trajectory correction according to a trajectory correction rule corresponding to an evaluation result to obtain a second planning trajectory; and controlling the vehicle to run according to the second planned trajectory. Thus, the first planned track output by the track generation model is evaluated, and track correction is performed according to the track correction rule corresponding to the evaluation result, so that the reliability of the first planned track is improved, and the safety of the vehicle during driving on the second planned track obtained after track correction is performed is ensured; and the safety of automatic driving of the vehicle is improved.
本申请公开了一种轨迹规划方法、装置、车辆及存储介质,涉及车辆技术领域。该方法包括:获取轨迹生成模型输出的第一规划轨迹;对第一规划轨迹进行评估,并根据评估结果对应的轨迹修正规则进行轨迹修正,得到第二规划轨迹;控制车辆按照第二规划轨迹行驶。如此,对轨迹生成模型输出的第一规划轨迹进行评估,并根据评估结果对应的轨迹修正规则进行轨迹修正,提高了第一规划轨迹的可靠性,从而使得车辆在进行轨迹修正后得到的第二规划轨迹上行驶时的安全性,提高了车辆自动驾驶的安全性。
Track planning method and device, vehicle and storage medium
轨迹规划方法、装置、车辆及存储介质
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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