The invention provides an automatic driving decision planning method, electronic equipment and a readable storage medium, and the method comprises the steps: carrying out the path planning of an automatic driving vehicle, and obtaining a target path; projecting the multi-modal prediction trajectory of the dynamic obstacle to the target path in the process that the autonomous vehicle travels along the target path to obtain a multi-scene projection drawing in time and space dimensions; a tree-shaped velocity curve is searched on the multi-scene projection drawing, a tree-shaped velocity curve set is obtained, a target tree-shaped velocity curve is determined in the tree-shaped velocity curve set, and the target tree-shaped velocity curve is composed of multiple tracks behind a bifurcation point and a common track before the bifurcation point; the plurality of trajectories are used for respectively describing speed plans of different scenes which are predicted to occur, and the public trajectory is used for describing speed plans determined according to occurrence probabilities of different scenes; and integrating the target path and the target tree-shaped speed curve to obtain a target tree-shaped trajectory, thereby solving the problem of unreasonable automatic driving decision and planning in related technologies.
本申请提供了自动驾驶决策规划方法、电子设备、可读存储介质,包括:对自动驾驶车辆进行路径规划,得到目标路径;将自动驾驶车辆沿目标路径行驶过程中的动态障碍物的多模态预测轨迹投影至目标路径上,得到时间和空间维度上的多场景投影图;在多场景投影图上搜索树状速度曲线,得到树状速度曲线集合,并在树状速度曲线集合中确定出目标树状速度曲线,目标树状速度曲线由分叉点之后的多条轨迹和分叉点之前的公共轨迹构成,多条轨迹用于分别描述预计发生的不同场景的速度规划,公共轨迹用于描述根据不同场景发生概率所确定的速度规划;将目标路径和目标树状速度曲线整合,得到目标树状轨迹,解决了相关技术自动驾驶决策和规划不合理的问题。
Automatic driving decision planning method, electronic equipment and readable storage medium
自动驾驶决策规划方法、电子设备、可读存储介质
2024-12-27
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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