The invention provides a trajectory planning method and device for automatic driving, electronic equipment and a medium. According to one example of the invention, the method can be applied to an end-to-end automatic driving model, and the method can comprise the steps: extracting lane line features from aerial view features corresponding to a current road image, and constructing lane line information in a vector map; wherein the current road image is an image of a road where the self-driving vehicle runs; under the condition that the planned self-vehicle track intersects with the lane line, path points in the self-vehicle track are adjusted based on intersection points; the self-vehicle track is the driving track of the self-vehicle in the future preset time.
本申请提供一种自动驾驶的轨迹规划方法、装置、电子设备及介质。根据本申请的一个示例,该方法可以应用于端到端自动驾驶模型,该方法可以包括:从当前道路图像对应的鸟瞰图特征中提取车道线特征,构建矢量地图中的车道线信息;其中,当前道路图像是自动驾驶的自车行驶所在的道路图像;在规划出的自车轨迹与车道线相交的情况下,基于交点调整自车轨迹中的路径点;自车轨迹是自车在未来预设时间内的行驶轨迹。
Track planning method and device for automatic driving, electronic equipment and medium
一种自动驾驶的轨迹规划方法、装置、电子设备及介质
2024-12-10
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 |
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