The embodiment of the invention discloses a trajectory planning method and related equipment, the method can be used in the field of automatic driving in artificial intelligence, and the method comprises the steps that first state information of a vulnerable traffic participant is acquired, the vulnerable traffic participant is in a vehicle sensing range, and the first state information comprises the position of the vulnerable traffic participant; based on the first state information, determining one or more reachable positions of the vulnerable traffic participant at each of the subsequent N moments and the probability of each reachable position, and planning the trajectory of the vehicle; due to the fact that the probability of each reachable position of the vulnerable participant is considered when path planning is carried out on the self-vehicle, namely, all reachable positions of the vulnerable participant cannot be directly avoided, the exploration range of the self-vehicle in the advancing process is expanded, and a better advancing track of the self-vehicle can be obtained.

    本申请实施例公开一种轨迹规划方法以及相关设备,该方法可用于人工智能中的自动驾驶领域,方法包括:获取弱势交通参与者的第一状态信息,弱势交通参与者在自车感知范围内,第一状态信息包括弱势交通参与者的位置;基于第一状态信息,确定弱势交通参与者在后续N个时刻中每个时刻的一个或多个可达位置以及每个可达位置的概率,进而对自车的轨迹进行规划;由于在对自车进行路径规划时考虑了弱势参与者的每个可达位置的概率,也即不会直接避开弱势交通参与者的所有可达位置,则扩大了自车在行进过程中的探索范围,有利于得到自车更优的行进轨迹。


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    Title :

    Track planning method and related equipment


    Additional title:

    一种轨迹规划方法以及相关设备


    Contributors:
    LIU FEI (author) / HAO DONGHAO (author) / TANG LEI (author) / YANG SHAOYU (author) / CHENG SIYUAN (author) / ZHANG HONGBO (author)

    Publication date :

    2024-06-14


    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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