The invention discloses a trajectory correction method and device, an unmanned vehicle and a storage medium, and the method comprises the steps: obtaining a predicted trajectory and obstacle information of a target vehicle, so as to determine a transverse safety distance and a longitudinal safety distance of the target vehicle relative to an obstacle; determining a lateral distance control point of the target vehicle based on the lateral safe distance, and determining a longitudinal distance control point of the target vehicle based on the longitudinal safe distance; based on the transverse distance control point and the expected correction time, a control end point of the target vehicle is determined, and a minimum convex polygon with the transverse distance control point, the longitudinal distance control point and the control end point as vertexes does not interfere with the obstacle; and correcting the predicted trajectory based on the predicted trajectory starting point, the lateral distance control point, the longitudinal distance control point and the control end point of the target vehicle. In this way, the original predicted trajectory can be corrected in automatic driving control, and then obstacle avoidance is achieved.

    本申请公开了一种轨迹修正方法和装置、无人车和存储介质,其中该方法包括获取目标车辆的预测轨迹和障碍物信息,以确定目标车辆相对障碍物的横向安全距离和纵向安全距离;基于横向安全距离确定目标车辆的横向距离控制点、以及基于纵向安全距离确定目标车辆的纵向距离控制点;基于横向距离控制点和期望修正时间,确定目标车辆的控制终点,其中,以横向距离控制点、纵向距离控制点以及控制终点为顶点的最小凸多边形与障碍物不存在干涉;基于目标车辆的预测轨迹起点、横向距离控制点、纵向距离控制点以及控制终点,对预测轨迹进行修正。这样,可以在自动驾驶控制中对原先的预测轨迹进行修正,进而实现对障碍物的避让。


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    Title :

    Track correction method and device, unmanned vehicle and storage medium


    Additional title:

    轨迹修正方法和装置、无人车和存储介质


    Contributors:
    FU YIHAO (author) / LI YONGQIANG (author) / YAO ZHIPENG (author) / LYU QIANG (author) / MIAO QIANKUN (author)

    Publication date :

    2023-12-08


    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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