The invention provides a planned trajectory generation method and device, electronic equipment and a storage medium. The method comprises the steps of obtaining a state space and an action space of a vehicle; according to the potential collision risk and the action space, classifying the predicted trajectories of the side vehicle to obtain a risk trajectory set and a safety trajectory set; and through a partially observable Markov decision process, modeling is performed on a state space, an action space, a risk trajectory set and a safety trajectory set to obtain a reference trajectory. The decision planning process under the uncertainty of the side vehicle behavior is modeled as POMDP, so that the uncertain behavior of the side vehicle is fully predicted, and the driving safety of the vehicle is ensured. Besides, in consideration of too high dimensionality of a multi-traffic-participant prediction trajectory cluster in a complex scene and easy falling into dimensionality disaster of the POMDP model, the prediction trajectory of the side vehicle is classified into a risk trajectory set and a safe trajectory set through a potential collision risk, so that state space dimensionality reduction is realized, and decision planning efficiency and decision stability are effectively improved.

    本申请提供了一种规划轨迹生成方法、装置、电子设备及存储介质,所述方法包括:获取状态空间和自车的动作空间;根据潜在碰撞风险和动作空间,对旁车的预测轨迹进行分类,获得风险轨迹集合和安全轨迹集合;通过部分可观察马尔可夫决策过程,对状态空间、动作空间、风险轨迹集合和安全轨迹集合进行建模,获得参考轨迹。将旁车行为不确定性下的决策规划过程建模为POMDP,从而充分预测旁车的不确定行为,保证自车的行车安全。另外,考虑到复杂场景中多交通参与者预测轨迹簇的维度过高,POMDP模型容易陷入维数灾难,所以通过潜在碰撞风险将旁车的预测轨迹分类为风险轨迹集合和安全轨迹集合,从而实现状态空间降维,有效提升决策规划效率和决策稳定性。


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    Title :

    Planning trajectory generation method and device, electronic equipment and storage medium


    Additional title:

    规划轨迹生成方法、装置、电子设备及存储介质


    Contributors:
    ZHAO YIFAN (author) / TANG LUQI (author) / LI TIANHUI (author) / LIN ZHIGUI (author) / LUO TANYUE (author)

    Publication date :

    2025-05-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung




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