The invention relates to the technical field of automatic driving, in particular to a vehicle motion trail dynamic planning method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining an initial state and a plurality of terminal point states of a current vehicle during lane changing in a last period; calculating a plurality of candidate track clusters of the current vehicle in the current period by utilizing a preset lane changing track formula based on the initial state and the plurality of terminal point states; and determining an evaluation result of each candidate track cluster by using a preset evaluation function, and determining a target lane changing track in the current period based on the evaluation results so as to control the current vehicle based on the target lane changing track. Therefore, the problems that a traditional path planning algorithm is only suitable for a specific scene with a low dynamic degree and is difficult to effectively deal with a new scene, and in the prior art, a method for realizing intelligent path planning through an artificial intelligence algorithm such as reinforcement learning is difficult to analyze and understand, the safety is difficult to guarantee, and the path planning efficiency is low are solved. And the method is difficult to realize application in mass production of vehicle models.
本申请涉及自动驾驶技术领域,特别涉及一种车辆运动轨迹动态规划方法、装置、车辆及存储介质,其中,方法包括:获取当前车辆在上一周期内换道时的初始状态和多个终点状态;基于初始状态和多个终点状态,利用预设换道轨迹公式计算当前车辆在当前周期内的多个候选轨迹簇;利用预设的评价函数确定每一条候选轨迹簇的评价结果,并基于评价结果确定当前周期内的目标换道轨迹,以基于目标换道轨迹控制当前车辆。由此,解决了传统的路径规划算法仅适用于特定、动态程度较低的场景,当面临新场景时难以有效应对,并且在现有技术中,通过强化学习等人工智能算法实现智能路径规划的方法难以分析和理解,安全性难以保障,难以在量产车型中实现应用等问题。
Vehicle movement track dynamic planning method and device, vehicle and storage medium
车辆运动轨迹动态规划方法、装置、车辆及存储介质
2024-07-02
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 |
Track planning method and device, vehicle and storage medium
European Patent Office | 2023
|Track planning method, related device, vehicle and storage medium
European Patent Office | 2024
|Vehicle horizontal parking track planning method and device, vehicle and storage medium
European Patent Office | 2021
|Vehicle lane changing track planning method and device, vehicle and storage medium
European Patent Office | 2024
|Track planning method and device, vehicle control method and device, storage medium and vehicle
European Patent Office | 2024
|