The invention relates to a vehicle driving track planning method, a storage medium, electronic equipment and a vehicle, and aims to solve the problems that a local track planning method in related technologies is complex in algorithm and large in calculation amount. The method comprises the following steps: determining edge positions of two sides of a lane where a vehicle is located; determining a first pair of driving boundary reference lines based on the edge positions of the two sides of the lane; adjusting the position of at least one of the first pair of driving boundary reference lines for N times to obtain N pairs of driving boundary reference lines, N being a positive integer; according to the N + 1 pairs of driving boundary reference lines, N + 1 to-be-driven track points are determined, the nth to-be-driven track point is located on the center line of the nth pair of driving boundary reference lines, and n is a positive integer smaller than or equal to N + 1; and obtaining the driving track of the vehicle according to the N + 1 to-be-driven track points.
本公开涉及一种车辆行驶轨迹规划方法、存储介质、电子设备及车辆,以解决相关技术中的局部轨迹规划方法算法复杂且计算量大的问题。所述方法包括:确定车辆所处的车道的两侧边缘位置;基于所述车道的两侧边缘位置,确定第一对行驶边界参考线;对所述第一对行驶边界参考线中的至少一条的位置进行N次调整,得到N对行驶边界参考线,N为正整数;根据N+1对行驶边界参考线,确定N+1个待行驶轨迹点,其中,第n个待行驶轨迹点位于第n对行驶边界参考线的中心线上,n为小于或等于N+1的正整数;根据所述N+1个待行驶轨迹点获得所述车辆的行驶轨迹。
Vehicle driving track planning method, storage medium, electronic equipment and vehicle
车辆行驶轨迹规划方法、存储介质、电子设备及车辆
2024-01-05
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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