The invention discloses a trajectory planning method, apparatus and device, and a storage medium. The method comprises the steps of obtaining vehicle driving data and driving environment data of a target vehicle; inputting the vehicle driving data and the driving environment data into a trajectory prediction model to obtain a plurality of predicted driving paths and a plurality of predicted speed distribution data corresponding to the target vehicle; determining a current driving scene of the target vehicle based on the driving environment data; based on the current driving scene, respectively performing curvature smoothing on the plurality of predicted driving paths to obtain a plurality of candidate driving paths; and performing trajectory synthesis on the predicted speed distribution data and the candidate driving path to obtain a target driving trajectory. According to the method, the predicted driving path is optimized, and the candidate driving paths are screened in combination with the predicted speed distribution data to obtain the target driving track, so that the accuracy and safety of determining the driving track of the target vehicle can be improved.

    本发明公开了一种轨迹规划方法、装置、设备以及存储介质,所述方法包括:获取目标车辆的车辆行驶数据以及行驶环境数据;将所述车辆行驶数据以及所述行驶环境数据输入轨迹预测模型,得到所述目标车辆对应的多条预测行驶路径以及多个预测速度分布数据;基于所述行驶环境数据,确定所述目标车辆的当前行驶场景;基于所述当前行驶场景,对所述多条预测行驶路径分别进行曲率平滑,得到多条候选行驶路径;对所述预测速度分布数据以及所述候选行驶路径进行轨迹合成,得到目标行驶轨迹。本发明通过对预测行驶路径进行优化,并结合预测速度分布数据对候选行驶路径进行筛选得到目标行驶轨迹,能够提高目标车辆的行驶轨迹确定的准确性和安全性。


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    Title :

    Track planning method, device and equipment and storage medium


    Additional title:

    一种轨迹规划方法、装置、设备以及存储介质


    Contributors:
    ZHOU FU (author)

    Publication date :

    2025-03-28


    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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