The invention relates to a driving track determination method and device, computer equipment and a storage medium. The method comprises the steps that when it is detected that a front vehicle exists in a preset range of a target vehicle, a first driving track point set of the front vehicle under a vehicle coordinate system is acquired; determining a reference driving track of the target vehicle according to the first driving track point set and the vehicle attribute information of the target vehicle; and finally, according to a dynamic constraint condition corresponding to the target vehicle, correcting the reference driving track to obtain a target driving track of the target vehicle. Through the method, the problem that the driving track of the vehicle cannot be planned according to the lane line and road boundary information in a scene without the lane line and the road boundary in the prior art can be solved.

    本申请涉及一种行车轨迹确定方法、装置、计算机设备和存储介质。该方法包括:当检测到目标车辆的预设范围内存在前方车辆时,获取前方车辆在车辆坐标系下的第一行车轨迹点集合;再根据第一行车轨迹点集合和目标车辆的车辆属性信息,确定目标车辆的参考行车轨迹;最后根据目标车辆对应的动力学约束条件,对参考行车轨迹进行修正,得到目标车辆的目标行车轨迹。通过上述方法可以解决现有技术中在不存在车道线和道路边界的场景下,无法根据车道线和道路边界信息规划出车辆的行车轨迹的问题。


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    Title :

    Driving track determination method and device, computer equipment and storage medium


    Additional title:

    行车轨迹确定方法、装置、计算机设备和存储介质


    Contributors:
    CAO YUNTAO (author) / LYU YING (author) / DONG XIAOYU (author) / LIU MENGKE (author)

    Publication date :

    2024-04-09


    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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