The invention discloses a vehicle driving planning method and device, a terminal and a medium, and the method comprises the steps: obtaining an ST image of a lane where a vehicle is located, and obtaining a shared track bifurcation point of the motion tracks of different modes; constructing cost functions and constraint conditions of different modal motion trails, and performing optimization by adopting a discrete dynamic programming algorithm to obtain optimal solutions of the different modal motion trails; and carrying out smoothing and optimization through a space-time joint planner to obtain optimal motion trails of different modes so as to carry out driving planning on the vehicle. Therefore, according to the embodiment of the invention, common trajectory construction can be carried out on the movement trajectories of the first modal and the second modal of the obstacle, the probabilities of different modals of the obstacle are comprehensively considered, optimization solution is carried out through a discrete dynamic programming algorithm and a space-time joint planner, and the optimal movement trajectories of the obstacle in different modals are obtained. The problem that barrier cut in longitudinal decision in a city navigation aided driving scene is too conservative is solved.

    本发明公开了一种车辆驾驶规划方法、装置、终端及介质,所述方法包括获取障碍物不同模态的运动轨迹投影到车辆所在本车道的ST图,得到不同模态的运动轨迹的共享轨迹分叉点;构建不同模态运动轨迹的成本函数和约束条件,采用离散动态规划算法进行优化,得到不同模态运动轨迹的最优解;通过时空联合规划器进行平滑和优化,得到不同模态最优运动轨迹,以对车辆进行驾驶规划。因此,本发明实施例能够将障碍物第一模态和第二模态的运动轨迹进行公共轨迹搭建,综合考虑障碍物不同模态的概率,通过离散动态规划算法和时空联合规划器进行优化求解,得到所述障碍物不同模态最优运动轨迹,以解决在城市导航辅助驾驶场景中障碍物cut in纵向决策过于保守问题。


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    Title :

    Vehicle driving planning method and device, terminal and medium


    Additional title:

    一种车辆驾驶规划方法、装置、终端及介质


    Contributors:
    LIU CHAO (author)

    Publication date :

    2024-03-22


    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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