The invention discloses a vehicle driving track planning method, device and equipment and a storage medium, and the method comprises the steps: obtaining the real vehicle data of a vehicle, the real vehicle data comprises sensing data, positioning data, map data, vehicle control data and prediction data; determining a preset hierarchical reinforcement learning decision model; the preset layered reinforcement learning decision model comprises a high-level lane strategy and a low-level track strategy; wherein a safety layer model is further arranged in the low-layer track strategy, and the safety layer model is used for carrying out safety constraint on the current action of the low-layer track strategy based on the safety car following time interval to obtain the current optimal safety action; obtaining a lane decision of the vehicle through the high-rise lane strategy according to the real vehicle data; and according to the lane decision and the real vehicle data, obtaining a driving track of the vehicle through the low-layer track strategy. According to the embodiment of the invention, a reasonable vehicle driving track can be generated, and vehicle collision is avoided.

    本发明公开了一种车辆行驶轨迹规划方法、装置、设备及存储介质,方法包括:获取车辆的实车数据,所述实车数据包括感知数据、定位数据、地图数据、车辆控制数据和预测数据;确定预设分层强化学习决策模型;所述预设分层强化学习决策模型包括高层车道策略和低层轨迹策略;其中,所述低层轨迹策略内还设有安全层模型,所述安全层模型用于基于安全跟车时距对所述低层轨迹策略的当前动作进行安全约束,得到当前最优安全动作;根据所述实车数据,通过所述高层车道策略,得到所述车辆的车道决策;根据所述车道决策和所述实车数据,通过所述低层轨迹策略,得到所述车辆的行驶轨迹。采用本发明实施例能够生成合理的车辆行驶轨迹,避免车辆发生碰撞。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle driving track planning method, device and equipment and storage medium


    Additional title:

    一种车辆行驶轨迹规划方法、装置、设备及存储介质


    Contributors:
    CHEN XIAOCHANG (author) / ZHU WEIWEN (author)

    Publication date :

    2024-04-02


    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



    Vehicle driving track planning method, storage medium, electronic equipment and vehicle

    MEI YUANYUAN / YANG DONGSHENG / LIU KE et al. | European Patent Office | 2024

    Free access

    Driving track planning method, device and equipment and storage medium

    PENG YING / QIU CHUNRONG / YANG ZHENG et al. | European Patent Office | 2022

    Free access

    Vehicle driving track planning method, system and device and storage medium

    QIAO MIAOMIAO / WANG RONGRONG / FU YUANYI et al. | European Patent Office | 2023

    Free access

    Track planning method, automatic driving equipment and computer storage medium

    XIA CHAO / LIU YUNFU / CHEN JUNBO | European Patent Office | 2023

    Free access

    Speed planning method and device for driving track, equipment and storage medium

    CHEN GUANGDA / ZHANG ZHIWEN / GAN YINGHAO et al. | European Patent Office | 2024

    Free access