The invention discloses a vehicle trajectory planning decision method and device, a terminal and a medium, and the method comprises the steps: collecting the motion information of a vehicle and an obstacle based on the acceleration dimension of the vehicle, and carrying out the calculation to obtain the motion trajectory of the vehicle and the obstacle; traversing the movement tracks of the vehicle and the obstacle in a crossing manner, and calculating to obtain a cost set of the vehicle and the obstacle; and solving the optimal decision group of the cost set by adopting a Steinberg game model, smoothing and optimizing through a space-time joint planner to meet dynamic constraints, and obtaining an optimal planning decision of the self-vehicle to control the driving of the self-vehicle. Therefore, according to the embodiment of the invention, the optimal trajectory planning decision of all trajectory planning of the vehicle can be calculated through the Steinberg game model and the spatio-temporal joint planner, the safety of the vehicle and other traffic participants is ensured, and meanwhile, the problems of unprotected left turn of the vehicle, lane change merge and conservative decision planning of a lane preemptive scene are solved.

    本发明公开了一种车辆轨迹规划决策方法、装置、终端及介质,所述方法包括基于自车的加速度维度,采集所述自车和障碍物的运动信息,计算得到所述自车和障碍物的运动轨迹;交叉遍历自车和障碍物的运动轨迹,计算得到所述自车和障碍物的成本集合;采用斯坦伯格博弈模型求解所述成本集合的最优决策组,通过时空联合规划器进行平滑和优化,以满足动力学约束,得到所述自车的最优规划决策,以控制所述自车行驶。因此,本发明实施例能够通过斯坦伯格博弈模型和时空联合规划器计算得到自车所有轨迹规划的最优轨迹规划决策,在保证自车和其它交通参与者的安全同时,解决自车无保护左转、换道merge、抢占车道场景决策规划保守的问题。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle trajectory planning decision method and device, terminal and medium


    Additional title:

    一种车辆轨迹规划决策方法、装置、终端及介质


    Contributors:
    LIU CHAO (author)

    Publication date :

    2024-03-22


    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



    Vehicle trajectory planning method, device, equipment and medium

    DENG CHEN | European Patent Office | 2024

    Free access

    Vehicle trajectory planning method and device, vehicle, medium and program

    HUANG ZHICHAO / REN LIANG / CHEN YUANLONG et al. | European Patent Office | 2024

    Free access

    Vehicle trajectory planning method and device and storage medium

    HANG CHEN / DANG DONGFANG / LIU ZHAOLIN et al. | European Patent Office | 2025

    Free access

    Vehicle trajectory planning method and device, storage medium and vehicle

    SHANG BINGXU / LIU YANG / CHEN ZHIXIN et al. | European Patent Office | 2020

    Free access

    Vehicle trajectory planning method, device and equipment and storage medium

    LIU JIAQI / XU TIANYU / CUI RANRAN et al. | European Patent Office | 2025

    Free access