The invention relates to a vehicle trajectory planning method and device, computer equipment and a storage medium. The method comprises the following steps: projecting a predicted front vehicle track into a first coordinate system to obtain an initial curve; preprocessing the initial curve to obtain a reference curve; determining the front vehicle position and the front vehicle speed based on the reference curve, and determining the vehicle following time interval according to the front vehicle speed and the current vehicle following gear; inputting the front vehicle position, the front vehicle speed, the vehicle following time interval and the vehicle following model weight into a preset nonlinear vehicle following model, solving the preset nonlinear vehicle following model in combination with a preset constraint term, and determining a vehicle following longitudinal track of the vehicle; and splicing the car-following longitudinal track and the car-following transverse track to obtain a planned driving track of the car. According to the method, in longitudinal planning of the car following track, the car following time interval, the position of the front car and the speed of the front car in the car following process are considered, a nonlinear model is adopted for solving, and the safe and comfortable running track of the car meeting constraint terms is output according to the predicted track of the front car.

    本申请涉及一种车辆轨迹规划方法、装置、计算机设备及存储介质。该方法包括:将预测的前车轨迹投射到第一坐标系中,得到初始曲线;对初始曲线进行预处理,得到参考曲线;基于参考曲线确定前车位置和前车速度,根据前车速度和当前跟车挡位确定跟车时距;将前车位置、前车速度、跟车时距、以及跟车模型权重,输入至预设非线性跟车模型中,结合预设约束项,对预设非线性跟车模型求解,确定本车的跟车纵向轨迹;将跟车纵向轨迹与跟车横向轨迹进行拼接,得到本车的规划行车轨迹。本方法在跟车轨迹的纵向规划中,考虑了跟车过程中的跟车时距、前车位置、前车速度,采用非线性模型进行求解,根据前车的预测轨迹输出满足约束项、安全舒适的本车行车轨迹。


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    Title :

    Vehicle trajectory planning method and device, computer equipment and storage medium


    Additional title:

    车辆轨迹规划方法、装置、计算机设备及存储介质


    Contributors:
    LIU FAN (author)

    Publication date :

    2024-05-03


    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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