The invention relates to an automatic driving vehicle trajectory planning method, which comprises the following steps of: extracting comprehensive spatio-temporal information representation of a driving scene from automatic driving multi-modal data by adopting an end-to-end branch, and predicting and generating a trajectory sequence predicted by a vehicle in a future set time period; a visual language model branch is adopted to embed visual features related to the text instruction into a large language model, and a plurality of different track sequences in a future set time period are obtained through prediction; and fusing the trajectory sequences output by the two branches according to the loss value and the danger situation of the current driving scene to obtain a final planning trajectory. Compared with the prior art, the method has the advantages of high safety and reliability.
本发明涉及一种自动驾驶车辆轨迹规划方法,该方法包括:采用端到端分支从自动驾驶多模态数据中提取出驾驶场景的全面时空信息表示,预测生成未来设定时段内自车预测的轨迹序列;采用视觉语言模型分支将与文本指令相关的视觉特征嵌入到大语言模型中,预测得到未来设定时段内若干条不同的轨迹序列;根据损失值大小以及当前驾驶场景的危险态势对两个分支输出的轨迹序列进行融合,得到最终的规划轨迹。与现有技术相比,本发明具有安全可靠性高的优点。
Automatic driving vehicle trajectory planning method
一种自动驾驶车辆轨迹规划方法
2025-01-10
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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