The invention provides a trajectory planning method and device, electronic equipment and an automatic driving vehicle, and relates to the field of data processing, in particular to the fields of automatic driving, motion planning and decision control. According to the specific implementation scheme, the obstacle initial state, the obstacle action space and the main vehicle initial state are obtained; constructing a main vehicle safety space according to the initial state of the obstacle and the action space of the obstacle; the main vehicle safety space is a set of time and position when the main vehicle does not collide with the obstacle; based on the initial state of the main vehicle, taking the safety space of the main vehicle as a search space, searching the action of the main vehicle, and obtaining an initial track of the main vehicle; and smoothing the initial track to obtain a main vehicle smooth track.

    本公开提供了轨迹规划方法、装置、电子设备及自动驾驶车辆,涉及数据处理领域,尤其涉及自动驾驶、运动规划、决策控制领域。具体实现方案为:获取障碍物初始状态、障碍物动作空间、主车初始状态;根据所述障碍物初始状态、障碍物动作空间构建主车安全空间;所述主车安全空间为主车与障碍物不会发生碰撞的时间与位置的集合;基于所述主车初始状态,以所述主车安全空间为搜索空间,对主车动作进行搜索,获取主车初始轨迹;对所述初始轨迹进行平滑处理,获取主车平滑轨迹。


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    Title :

    Track planning method and device, electronic equipment and automatic driving vehicle


    Additional title:

    轨迹规划方法、装置、电子设备及自动驾驶车辆


    Contributors:
    ZHAO HAOWEI (author) / ZHANG YUJIE (author) / LIU CHANGCHUN (author)

    Publication date :

    2023-11-17


    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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