The invention discloses a trajectory determination method and device for an autonomous vehicle, electronic equipment and a medium. The method comprises the steps that at least two driving tracks of a target vehicle are obtained, evaluation values of the driving tracks are determined, the evaluation values are used for representing the probability that the driving tracks serve as the driving tracks of the target vehicle, and the smaller the evaluation values are, the larger the probability that the driving tracks serve as the driving tracks of the target vehicle is; determining whether the target vehicle has the right of way; if the target vehicle has the right of road, the driving track with the minimum evaluation value in the driving tracks is selected as a target driving track; if the target vehicle does not have the right of road, a target driving track is determined based on reference collision time and the evaluation value, and the reference collision time is used for describing the time when the reference vehicle collides with the target vehicle. According to the technical scheme, the driving tracks are screened based on the right of way and the evaluation value, accurate selection of the driving tracks is achieved, and the risk rate in the driving process of the automatic driving vehicle is reduced.

    本发明公开了一种自动驾驶车辆的轨迹确定方法、装置、电子设备和介质。该方法包括:获取目标车辆的至少两条行车轨迹,并确定的行车轨迹的评估值,评估值用于表示行车轨迹作为目标车辆的行车轨迹的概率,评估值越小的行车轨迹作为目标车辆的行车轨迹的概率越大;确定目标车辆是否有路权;若目标车辆有路权,则选择行车轨迹中评估值最小的行车轨迹作为目标行车轨迹;若目标车辆没有路权,则基于参考碰撞时间和评估值确定目标行车轨迹,参考碰撞时间用于描述参考车辆与目标车辆发生碰撞的时间。本申请技术方案基于路权和评估值对于行车轨迹进行筛选,实现了对于行车轨迹的准确选择,降低了自动驾驶车辆行驶中的风险率。


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    Title :

    Track determination method and device for autonomous vehicle, electronic equipment and medium


    Additional title:

    自动驾驶车辆的轨迹确定方法、装置、电子设备和介质


    Contributors:
    YANG DONGFANG (author) / XU XIAODONG (author) / WANG YU (author) / WU NING (author) / CHEN GUANG (author) / LI DONGHAI (author) / PANG YUNTIAN (author) / WANG LONGHONG (author) / GU YONG (author) / ZHANG RUHAO (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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