The invention discloses a trajectory planning method, a related device, a vehicle and a storage medium, and the method comprises the steps: obtaining vehicle agent information and road environment information, the vehicle agent information carrying vehicle driving information of a target vehicle and vehicle driving information of other vehicles, the other vehicles are vehicles in the same driving area as the target vehicle; based on the vehicle agent information and the road environment information, determining a plurality of first driving tracks of the target vehicle in a future preset time period and a plurality of second driving tracks of other vehicles in the future preset time period; and a trained trajectory interaction module is adopted to process the plurality of first driving trajectories and the plurality of second driving trajectories to obtain a target prediction trajectory of the target vehicle, and the trajectory interaction module is constructed based on a game methodology. According to the scheme, the accuracy of target vehicle trajectory planning can be improved.

    本申请公开了一种轨迹规划方法和相关装置、车辆、存储介质,轨迹规划方法包括:获取车辆代理信息以及道路环境信息,车辆代理信息携带了目标车辆的车辆行驶信息以及其他车辆的车辆行驶信息,其他车辆为与目标车辆处于同一行驶区域的车辆;基于车辆代理信息以及道路环境信息,分别确定目标车辆在未来预设时间段内的若干第一行驶轨迹以及其他车辆在未来预设时间段内的若干第二行驶轨迹;采用经过训练的轨迹交互模块处理若干第一行驶轨迹和若干第二行驶轨迹,得到目标车辆的目标预测轨迹,轨迹交互模块基于博弈方法论构建。上述方案,能够提高目标车辆轨迹规划的准确度。


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    Title :

    Track planning method, related device, vehicle and storage medium


    Additional title:

    轨迹规划方法和相关装置、车辆、存储介质


    Contributors:
    WU WEI (author) / GAO ZIYAN (author) / FENG XIAOXIN (author) / KAN YUHENG (author)

    Publication date :

    2024-12-20


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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