The invention relates to a trajectory planning method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: track prediction is carried out on each traffic participant in a driving environment to obtain a prediction track of each traffic participant, and the prediction track comprises a plurality of candidate prediction tracks of a driving vehicle in each traffic participant and a prediction track of a dynamic obstacle around the driving vehicle; determining state distribution information of the predicted trajectory of each traffic participant; and screening out a target prediction trajectory from the plurality of candidate prediction trajectories based on the state distribution information through a linear quadratic Gaussian framework. By adopting the method, the accuracy of trajectory planning can be improved.
本申请涉及一种轨迹规划方法、装置、计算机设备、存储介质和计算机程序产品。所述方法包括:对驾驶环境中的各交通参与者进行轨迹预测,得到各交通参与者的预测轨迹,其中,所述预测轨迹包括各交通参与者中驾驶车辆的多条候选预测轨迹以及驾驶车辆周围的动态障碍物的预测轨迹;确定各交通参与者的预测轨迹的状态分布信息;通过线性二次高斯框架,基于所述状态分布信息,从所述多条候选预测轨迹中筛选出目标预测轨迹。采用本方法能够提升轨迹规划的准确度。
Track planning method and device, computer equipment and storage medium
轨迹规划方法、装置、计算机设备和存储介质
2024-03-26
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 |
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