The invention relates to a trajectory planning method for a vehicle. The method comprises the following steps: determining a to-be-avoided target obstacle of the vehicle in a driving direction; determining a benchmark reference trajectory of the vehicle for avoiding the target obstacle, and determining a target duration required by the vehicle for avoiding the target obstacle; based on the response delay of the vehicle to the avoidance request, performing compensation processing on a steering wheel turning angle of the vehicle at the avoidance starting point to obtain a target steering wheel turning angle; based on the target duration, the speed information of the vehicle at the avoidance starting point and the target steering wheel turning angle, planning a transverse offset trajectory of the vehicle relative to the datum reference trajectory in the avoidance process; and determining a target obstacle avoidance trajectory corresponding to the vehicle based on the benchmark reference trajectory and the lateral offset trajectory. According to the method, the steering wheel angle is compensated, the influence of delay on the driving track of the vehicle is reduced, meanwhile, the target obstacle avoidance track is determined through the benchmark reference track and the transverse offset track, and the accuracy of the target obstacle avoidance track is improved.

    本申请涉及一种车辆的轨迹规划方法,包括:确定车辆在行驶方向上待避让的目标障碍物;确定车辆避让目标障碍物的基准参考轨迹、以及确定车辆避让目标障碍物所需要的目标时长;基于车辆对避让请求的响应延时,对车辆在避让起始点的方向盘转角进行补偿处理,得到目标方向盘转角;基于目标时长、车辆在避让起始点的速度信息以及目标方向盘转角,规划车辆在避让过程中相对于基准参考轨迹的横向偏移轨迹;基于基准参考轨迹和横向偏移轨迹,确定车辆对应的目标避障轨迹。本申请通过对方向盘转角进行补偿处理,降低了延迟对车辆的行驶轨迹的影响,同时,通过基准参考轨迹和横向偏移轨迹确定目标避障轨迹,提高了目标避障轨迹的准确度。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle trajectory planning method and device, electronic equipment and storage medium


    Additional title:

    车辆的轨迹规划方法及装置、电子设备和存储介质


    Contributors:
    YAN XINQING (author) / HE YONG (author) / YANG DONGFANG (author) / JIANG SHUZHEN (author) / LI XIAOKAI (author)

    Publication date :

    2025-03-18


    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





    Vehicle trajectory planning method, device and equipment and storage medium

    LIU JIAQI / XU TIANYU / CUI RANRAN et al. | European Patent Office | 2025

    Free access

    Reference trajectory planning method and device of vehicle, electronic equipment and storage medium

    LI CHENG / WANG YUEQIANG / REN FAN | European Patent Office | 2023

    Free access

    Vehicle trajectory planning method, device and equipment and storage medium

    LI CHAO / YAN BINQIANG / HE SHUILONG et al. | European Patent Office | 2024

    Free access