The invention discloses a trajectory planning method, device and equipment for a vehicle and a storage medium, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining the transient intention probability of a dynamic obstacle in a prediction range around the vehicle; inputting the transient intention probability into a preset LQR closed-loop model, predicting candidate trajectories of the dynamic obstacles, and creating an IMM filter of uncertainty information of the dynamic obstacles; and planning the driving trajectory of the vehicle based on the candidate trajectory, the IMM filter and a preset SMPC. According to the method and the device, the preset LQR closed-loop model is utilized to consider a plurality of future trajectories of the obstacle in vehicle planning in a non-conservative mode, the realizability of the vehicle is considered through SMPC, and the most possible feasible state of the dynamic obstacle is selected, so that the conservative property of the uncertainty of the obstacle during vehicle driving trajectory planning is reduced.
本申请公开了一种车辆的轨迹规划方法、装置、设备及存储介质,涉及自动驾驶技术领域,该方法包括:获取车辆周围预测范围内动态障碍物的瞬态意图概率;将所述瞬态意图概率输入至预设LQR闭环模型,预测各所述动态障碍物的候选轨迹,并创建所述动态障碍物的不确定性信息的IMM过滤器;基于所述候选轨迹、所述IMM过滤器与预设SMPC规划所述车辆的驾驶轨迹。在本申请中,利用预设LQR闭环模型以非保守方式在车辆规划中考虑障碍物的多个未来轨迹,再通过SMPC考虑车辆的可实现性,选择动态障碍物最有可能的可行状态,以降低规划车辆驾驶轨迹时障碍物不确定性的保守性。
Vehicle trajectory planning method, device and equipment and storage medium
车辆的轨迹规划方法、装置、设备及存储介质
2024-08-13
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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