The invention relates to a vehicle trajectory planning method and device, and a storage medium, and the method comprises the steps: searching a reference line based on a three-lane model, predicting future trajectory points of a vehicle and obstacles around the vehicle based on the reference line, carrying out the time-space discretization of a current position point of the vehicle and a plurality of predicted trajectory points, and carrying out the prediction of the predicted trajectory points; each time layer is bound with a corresponding point, the binding points of any two adjacent time layers are connected to obtain a plurality of connecting edges, and the two adjacent time layers are connected to form a plurality of connecting edges, that is, the vehicle has a plurality of possible driving tracks in a certain time period, and further, the vehicle can be driven by a plurality of driving tracks in a certain time period. And calculating the cost of each connecting edge according to a preset cost function, and performing trajectory planning according to the cost of each connecting edge, a preset constraint condition and the predicted trajectory points of the obstacles bound with the plurality of time layers to obtain a vehicle planning trajectory which meets the lane boundary constraint and has the minimum cost. Therefore, vehicle trajectory planning in a dynamic obstacle avoidance scene is realized.
本申请涉及一种车辆轨迹规划方法及其装置、存储介质,包括:基于三车道模型搜索参考线,基于所述参考线预测本车和本车周围障碍物的未来轨迹点,对本车的当前位置点以及所述多个预测轨迹点进行时空离散化,每个时间层绑定对应的点,并将任意相邻两个时间层绑定的点进行连接获得多条连接边,连相邻的两个时间层之间连接形成很多连接边,也就是说在某个时间段本车有很多种可能的行驶轨迹,进一步地,根据预设的代价函数计算每条连接边的代价,并根据每条连接边的代价、预设的约束条件、所述多个时间层绑定的障碍物的预测轨迹点,进行轨迹规划得到一条满足所述车道边界约束且代价最小的车辆规划轨迹,从而实现动态避障场景的车辆轨迹规划。
Vehicle trajectory planning method and device and storage medium
一种车辆轨迹规划方法及其装置、存储介质
2025-02-25
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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