The invention discloses a vehicle track generation method and device, a storage medium and computer equipment. The method comprises the following steps: determining a traffic area range of a vehicle and a predicted trajectory of the vehicle according to road information of vehicle driving and obstacle information of obstacles, the predicted trajectory being located in the traffic area range, and the traffic area range and the predicted trajectory being represented by a predetermined coordinate system; the predetermined coordinate system is established based on a road on which the vehicle travels; determining a constraint generation boundary of obstacle avoidance constraint in a predetermined coordinate system according to the predicted trajectory and the traffic area range, the constraint generation boundary being a finite length line located in the traffic area range; generating an obstacle avoidance cost according to the prediction trajectory and the constraint generation boundary; and performing joint space-time optimization on the predicted trajectory according to the obstacle avoidance cost, and generating a target trajectory of the vehicle. The technical problem that a simple and effective trajectory optimization method is lacked when the vehicle is subjected to joint space-time optimization is solved.

    本发明公开了一种车辆轨迹生成方法、装置、存储介质及计算机设备。其中,该方法包括:根据车辆行驶的道路信息和障碍物的障碍物信息,确定车辆的通行区域范围和车辆的预测轨迹,其中,预测轨迹位于通行区域范围内,通行区域范围和预测轨迹采用预定坐标系进行表示,预定坐标系基于车辆行驶的道路建立;根据预测轨迹和通行区域范围,在预定坐标系中确定避让障碍物约束的约束生成边界,其中,约束生成边界为位于通行区域范围内的有限长度线;根据预测轨迹和约束生成边界,生成障碍物避让代价;根据障碍物避让代价对预测轨迹进行联合时空优化,生成车辆的目标轨迹。本发明解决了车辆进行联合时空优化时缺少简单有效的轨迹优化方法的技术问题。


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    Title :

    Vehicle track generation method and device, storage medium and computer equipment


    Additional title:

    车辆轨迹生成方法、装置、存储介质及计算机设备


    Contributors:
    SU RUNBING (author) / LI RENJIE (author) / FENG ZHUANG (author)

    Publication date :

    2024-12-27


    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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