The invention relates to the technical field of vehicles, in particular to a trajectory planning method and device of a vehicle, the vehicle, a medium and a program.The method comprises the steps that perception data of the current vehicle are obtained, and the perception data comprise image data, point cloud data, vehicle state data and vehicle positioning data; a state sequence is generated according to the perception data, and the state sequence comprises high-dimensional features of the vehicle surrounding environment information, a track point set and a reward function; and inputting the state sequence into an off-line reinforcement learning model, predicting a driving track of the vehicle in the future duration by the off-line reinforcement learning model, and controlling the current vehicle according to the driving track of the vehicle in the future duration. Therefore, the problems of high dependence of vehicle trajectory planning on scenes, relatively low recognition accuracy for different scenes, relatively poor applicability and the like in related technologies are solved.
本申请涉及车辆技术领域,特别涉及一种车辆的轨迹规划方法、装置、车辆、介质及程序,其中,方法包括:获取当前车辆的感知数据,其中,感知数据包括图像数据、点云数据、车辆状态数据和车辆定位数据;根据感知数据生成状态序列,其中,状态序列包括车辆周围环境信息的高维特征、轨迹点集和奖励函数;将状态序列输入至离线强化学习模型,离线强化学习模型预测未来时长的车辆的行驶轨迹,根据未来时长的车辆的行驶轨迹控制当前车辆。由此,解决了相关技术中车辆轨迹规划对场景依赖性高,针对不同的场景识别准确性较低,适用性较差等问题。
Vehicle trajectory planning method and device, vehicle, medium and program
车辆的轨迹规划方法、装置、车辆、介质及程序
12.11.2024
Patent
Elektronische Ressource
Chinesisch
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 |
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