本发明提供一种自动驾驶的轨迹规划方法、装置、电子设备及存储介质,所述方法包括:获取当前车辆自动驾驶的轨迹规划所需的信息;基于轨迹规划所需的信息,确定当前车辆的参考轨迹信息;基于参考轨迹信息,对各类目标障碍物做出行为决策,确定各类目标障碍物的边界信息;对参考轨迹信息,参考轨迹信息的起点信息及终点信息,以及各类目标障碍物的边界信息进行整合,得到控制当前车辆的规划轨迹信息。本发明基于当前车辆自动驾驶的轨迹规划所需的信息,对纵向部分进行设计,从而得到当前车辆的规划轨迹信息,解决了在算力平台较低,在噪声较大、环境复杂的场景中,为当前车辆生成一条舒适性高,安全性强的轨迹,提高了自动驾驶的舒适性和安全行。
The invention provides a trajectory planning method and device for automatic driving, electronic equipment and a storage medium. The method comprises the following steps: acquiring information required by trajectory planning for automatic driving of a current vehicle; determining reference trajectory information of the current vehicle based on the information required by trajectory planning; based on the reference trajectory information, making behavior decisions for various target obstacles, and determining boundary information of various target obstacles; and integrating the reference trajectory information, the starting point information and the terminal point information of the reference trajectory information and the boundary information of the various target obstacles to obtain planning trajectory information for controlling the current vehicle. According to the invention, the longitudinal part is designed based on the information required by the trajectory planning of the automatic driving of the current vehicle, so that the planned trajectory information of the current vehicle is obtained, and the problem that a trajectory with high comfort and high safety is generated for the current vehicle in a scene with a relatively low computing platform, relatively high noise and a complex environment is solved. And the comfort and safety of automatic driving are improved.
自动驾驶的轨迹规划方法、装置、电子设备及存储介质
2024-04-26
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 |