The invention discloses a trajectory processing method and device, equipment and a storage medium, and relates to the technical field of intelligent driving. The method comprises the following steps: acquiring first intersection environment information; the first intersection environment information is used for indicating characteristics of a first intersection where a vehicle is about to pass; acquiring a first virtual speed based on the first intersection environment information; obtaining a first pre-decision trajectory based on the first intersection environment information and the first virtual speed; the first pre-decision trajectory is used for indicating a reference driving path of the vehicle passing through the first intersection; under the condition that the first pre-decision trajectory meets the precision requirement, determining the first pre-decision trajectory as a target trajectory of the first intersection; the precision requirement is used for indicating the curvature range of the target trajectory. According to the invention, the smoothness of the vehicle trajectory can be ensured.

    本申请公开了一种轨迹线处理方法、装置、设备及存储介质,涉及智能驾驶技术领域。该方法包括:获取第一路口环境信息;所述第一路口环境信息用于指示车辆即将通过的第一路口的特征;基于所述第一路口环境信息,获取第一虚拟速度;基于所述第一路口环境信息以及所述第一虚拟速度,获取第一预决策轨迹线;所述第一预决策轨迹线用于指示所述车辆通过所述第一路口的参考行驶路径;在所述第一预决策轨迹线满足精度要求的情况下,将所述第一预决策轨迹线,确定为所述第一路口的目标轨迹线;所述精度要求用于指示所述目标轨迹线的曲率范围。本申请可以保证车辆轨迹线的平滑性。


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    Title :

    Track line processing method and device, equipment and storage medium


    Additional title:

    轨迹线处理方法、装置、设备及存储介质


    Contributors:
    SANG SHIYAO (author) / LIU ZHILONG (author) / QI JUN (author)

    Publication date :

    2025-03-14


    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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