The invention provides a trajectory planning method and device, equipment and a storage medium. The trajectory planning method comprises the following steps: acquiring a reference trajectory of a predetermined planning interval based on vehicle information, environment information and terminal point information; establishing a vehicle kinematic model under a road coordinate system based on the vehicle information and the reference trajectory; and according to the reference trajectory, the vehicle information and the vehicle kinematic model, using a model prediction controller to determine a sequence of controlled variables in a predetermined planning interval, and obtaining a final trajectory based on the sequence of controlled variables. According to the method, the kinematic characteristics of the vehicle are considered, the requirement for computing resources is low, and the computing speed is high.

    本发明提供一种轨迹规划方法、装置、设备、存储介质。该轨迹规划方法包括如下步骤:基于车辆信息、环境信息以及终点信息获取预定规划区间的参考轨迹;基于所述车辆信息、所述参考轨迹建立道路坐标系下的车辆运动学模型;以及根据所述参考轨迹、所述车辆信息以及所述车辆运动学模型,利用模型预测控制器确定预定规划区间中控制量的序列,并基于所述控制量的序列获得最终轨迹。本发明将车辆运动学特性考虑在内,并且对于计算资源的要求较低,计算速度快。


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    Title :

    Track planning method and device, equipment and storage medium


    Additional title:

    轨迹规划方法、装置、设备、存储介质


    Contributors:
    SHANG ZHIYING (author) / YOU HUAN (author)

    Publication date :

    2024-03-12


    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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