The invention discloses a trajectory planning method, electronic equipment and a storage medium, and the method comprises the steps: generating a reference trajectory based on a current position and a target position of a vehicle; optimizing the reference trajectory by using a static obstacle within a preset distance range of the reference trajectory to obtain an optimized trajectory; in response to the detection that the collision risk exists between the vehicle and the dynamic obstacle, obtaining a first speed of the vehicle at each time point based on the optimized trajectory; and adjusting the first speed of the vehicle at each time point to obtain a target trajectory. In this way, the track planning accuracy of the vehicle can be improved.
本申请公开了一种轨迹规划方法、电子设备和存储介质,该方法包括:基于车辆的当前位置和目标位置,生成参考轨迹;利用在参考轨迹的预设距离范围内的静态障碍物对参考轨迹进行优化,得到优化轨迹;响应于检测到车辆与动态障碍物存在碰撞风险,基于优化轨迹,得到车辆在各时间点的第一速度;调整车辆在各时间点的第一速度,得到目标轨迹。通过上述方式,本申请能够提高车辆的轨迹规划准确度。
Track planning method, electronic equipment and storage medium
一种轨迹规划方法、电子设备和存储介质
2024-02-02
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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