The invention discloses a trajectory planning method and device, a vehicle and a storage medium, and the method comprises the steps: predicting a vehicle state of the vehicle at a first time point and a vehicle state of a vehicle following the vehicle at the first time point under the condition that the vehicle is in a congestion road condition, and taking the vehicle states as an initial state of a starting time point of a first planning time period; the first time point is after the starting time point of the first planning time period; and according to the initial state, predicting a prediction trajectory of the vehicle in the first planning time period. According to the method provided by the invention, the trajectory planning of the vehicle under the congested road condition is realized.
本申请公开了一种轨迹规划方法、装置、车辆及存储介质,方法包括:在自车处于拥堵路况的情况下,预测自车在第一时间点的车辆状态以及自车跟随的前车在第一时间点的车辆状态,作为第一规划时段的开始时间点的初始状态;第一时间点在第一规划时段的开始时间点之后;根据初始状态,预测自车在第一规划时段的预测轨迹。根据本申请的方法,实现了对车辆在拥堵路况下进行轨迹规划。
Track planning method and device, vehicle and storage medium
轨迹规划方法、装置、车辆及存储介质
2025-04-18
Patent
Electronic Resource
Chinese
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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