The embodiment of the invention provides an automatic driving planning method and device, electronic equipment and a storage medium, and relates to the technical field of automatic driving. The method comprises the following steps: acquiring perception data; inputting the perception data into a breadth LSTM layer and a depth LSTM layer of a neural network; fusing the output results of the breadth LSTM layer and the depth LSTM layer in a CONCAT layer, and outputting a planning state result through a full connection layer and an SOFTMAX layer; and obtaining a target path according to the planning state result. According to the method, the multi-layer LSTM-CONCAT neural network is utilized to carry out path planning of ramps and complex lanes, the generalization adaptive capacity of vehicle trajectory planning is improved, and the problem that an existing planning method cannot adapt to complex lane lines is solved.

    本申请实施例提供一种自动驾驶规划方法、装置、电子设备及存储介质,涉及自动驾驶技术领域。该方法包括获取感知数据;将所述感知数据输入神经网络的广度LSTM层和深度LSTM层;将所述广度LSTM层和深度LSTM层的输出结果在CONCAT层进行融合,并经过全连接层和SOFTMAX层输出规划状态结果;根据所述规划状态结果获取目标路径。该方法利用多层LSTM‑CONCAT神经网络进行匝道、复杂车道的路径规划,提升车辆轨迹规划的泛化适应能力,解决了现有规划方法无法适应复杂车道线的问题。


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    Title :

    Automatic driving planning method and device, electronic equipment and storage medium


    Additional title:

    一种自动驾驶规划方法、装置、电子设备及存储介质


    Contributors:
    LUO JINGWEI (author) / QIAN LEI (author) / HUANG YIJIA (author)

    Publication date :

    2025-03-21


    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



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