The embodiment of the invention discloses a vehicle trajectory planning method, device and equipment. The method comprises the following steps: acquiring an expected path capable of reflecting a path on which a target vehicle is going to run; determining a first lane where the expected path of the target vehicle is located; then track information data capable of reflecting lane numbers and motion states of the traffic participants at the current position and at all predicted track points are obtained, and the predicted track points are obtained through prediction according to motion state data, reported by roadside equipment, of the traffic participants; determining traffic participants of which the track information data contains the lane number of the first lane; therefore, the motion track of the target vehicle is planned only by utilizing the track information data of the traffic participants with the lane number of the first lane in the track information data and the motion state data of the target vehicle, so that the driving safety of the vehicle is improved, and meanwhile, the computing resources for track planning are reduced.
本说明书实施例公开了一种车辆轨迹规划方法、装置、设备,包括:获取能够反映目标车辆将要行驶的路径的期望路径;并确定目标车辆的期望路径所处的第一车道;然后获取能够反映交通参与者在当前位置处,以及,在各个预测轨迹点处的车道编号以及运动状态的轨迹信息数据,其中,预测轨迹点是根据路侧设备上报的交通参与者的运动状态数据预测得到的轨迹点,以确定轨迹信息数据中包含有第一车道的车道编号的交通参与者;从而仅利用轨迹信息数据中包括第一车道的车道编号的交通参与者的轨迹信息数据以及目标车辆的运动状态数据,规划所述目标车辆的运动轨迹,以提高车辆的行车安全同时减少用于轨迹规划的计算资源。
Vehicle trajectory planning method, device, equipment and medium
一种车辆轨迹规划方法、装置、设备及介质
2024-04-30
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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