The invention discloses a predicted trajectory processing method and device for automatic driving, a storage medium and a vehicle, and belongs to the technical field of automatic driving. Acquiring data acquired in the driving process of the automatic driving vehicle, and generating a prediction track according to the data; generating at least one semantic action sequence set according to the data and the predicted trajectory, wherein the semantic action sequence set comprises a semantic action sequence and driving parameters of the autonomous vehicle; screening a target semantic action sequence set from the at least one semantic action sequence set according to vehicle dynamics constraints and collision and border crossing conditions, and generating a deduction trajectory according to the target semantic action sequence set; and calculating the deduced trajectory and the predicted trajectory according to a preset cost function, and determining the calculated optimal deduced trajectory as a trajectory processing result. According to the method, vehicle kinematics constraints can be considered, and a higher optimization solution speed is ensured; the predicted trajectory is effectively corrected, and the safety, high efficiency, stability and smoothness of the driving process are ensured.

    本申请公开了一种自动驾驶的预测轨迹处理方法、装置、存储介质及车辆,属于自动驾驶技术领域。获取自动驾驶车辆在行驶过程中采集的数据,根据数据生成预测轨迹;根据数据和预测轨迹生成至少一个语义动作序列集合,语义动作序列集合中包括自动驾驶车辆的语义动作序列和行驶参数;根据车辆动力学约束以及碰撞与越界条件,从至少一个语义动作序列集合中筛选目标语义动作序列集合,并根据目标语义动作序列集合生成推演轨迹;根据预设的代价函数对推演轨迹和预测轨迹进行计算,将计算出的最优的推演轨迹确定为轨迹处理结果。本申请能兼顾车辆运动学约束,保证更快的优化求解速度;对预测轨迹进行有效修正,保证行驶过程的安全、高效、平稳和平滑性。


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    Title :

    Predicted trajectory processing method and device for automatic driving, storage medium and vehicle


    Additional title:

    自动驾驶的预测轨迹处理方法、装置、存储介质及车辆


    Contributors:
    LYU YANG (author) / ZOU HANPENG (author) / LYU QIANG (author) / MIAO QIANKUN (author)

    Publication date :

    2024-03-29


    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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