The invention discloses a vehicle trajectory planning method, device and equipment and a storage medium, relates to the technical field of path planning, is applied to a current vehicle running on a main road, and comprises the steps of collecting vehicle feature information of each target vehicle located in an afflux area in a vehicle afflux scene; the afflux area comprises a main road and a ramp area; based on the road feature information of the vehicle afflux scene and the feature information of each vehicle, performing afflux intention prediction on each target vehicle by using a preset neural network to obtain each prediction result; the preset neural network is a neural network constructed based on a three-layer bidirectional long-short-term memory network; and planning the driving track of the current vehicle according to each prediction result to obtain a target driving track for avoiding each target vehicle. Therefore, the vehicle on the main road can predict the intention of each target vehicle on the ramp to merge into the main road in advance in the vehicle merge scene, the driving track capable of avoiding each target vehicle can be planned, and the vehicle driving safety is improved.
本申请公开了一种车辆轨迹规划方法、装置、设备及存储介质,涉及路径规划技术领域,应用于行驶于主路的当前车辆,包括:在车辆汇入场景下采集位于汇入区域的各目标车辆的车辆特征信息;汇入区域包括主路以及匝道区域;基于车辆汇入场景的道路特征信息和各车辆特征信息,利用预设神经网络对各目标车辆进行汇入意图预测,得到各预测结果;预设神经网络为基于三层双向长短期记忆网络构建的神经网络;根据各预测结果对当前车辆的行驶轨迹进行规划,得到用于避开各目标车辆的目标行驶轨迹。这样一来,本申请中,主路的车辆可以在车辆汇入场景下提前预测匝道的各目标车辆汇入主路的意图,可以规划出能避开各目标车辆的行驶轨迹,提高车辆行驶安全性。
Vehicle trajectory planning method, device and equipment and storage medium
一种车辆轨迹规划方法、装置、设备及存储介质
2025-03-11
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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