The invention discloses a driving path decision-making method and device, a storage medium, a vehicle and a terminal, relates to the technical field of intelligent driving, and mainly aims to solve the problem of poor optimization decision-making efficiency of the existing vehicle driving path. Comprising the steps that the driving curvature of a vehicle at a driving track point is acquired, and the driving curvature is determined based on track coordinates of the vehicle; obtaining a state transition relation between a control sequence and a state sequence of the driving track point determined by performing high-order nonlinear conversion based on the driving curvature, and performing sequence conversion processing on the track coordinates based on the state transition relation to obtain the control sequence and the state sequence; and performing optimization decision processing based on an optimization decision target and an initial solution of the vehicle, the control sequence and the state sequence to obtain a driving path of the vehicle.

    本发明公开了一种行驶路径的决策方法及装置、存储介质、车辆、终端,涉及智能驾驶技术领域,主要目的在于解决现有车辆行驶路径的优化决策效率较差的问题。包括:获取车辆在行驶轨迹点处的行驶曲率,所述行驶曲率为基于所述车辆的轨迹坐标确定的;获取基于所述行驶曲率进行高阶非线性转换确定的所述行驶轨迹点的控制序列与状态序列之间的状态转移关系,并基于所述状态转移关系对所述轨迹坐标进行序列转换处理,得到控制序列以及状态序列;基于所述车辆的优化决策目标、初始解、所述控制序列以及所述状态序列进行优化决策处理,得到所述车辆的行驶路径。


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    Title :

    Decision method and device of driving path, storage medium, vehicle and terminal


    Additional title:

    行驶路径的决策方法及装置、存储介质、车辆、终端


    Contributors:
    LIU SI (author)

    Publication date :

    2024-04-05


    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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