The embodiment of the invention discloses a trajectory planning method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring an environment perception result and map data, and generating a plurality of initial tracks of a vehicle; for each initial track, acquiring a first driving parameter of the vehicle at each moment included in the initial track data, and for any surrounding vehicle, acquiring a second driving parameter of the surrounding vehicle at each moment and a third driving parameter of a target vehicle corresponding to the surrounding vehicle at each moment from an environment sensing result; according to the first driving parameter, the second driving parameter and the third driving parameter, determining each predicted trajectory of the surrounding vehicle under the influence of the initial trajectory based on a preset motion model; and screening each initial trajectory based on each corresponding predicted trajectory to obtain a screened trajectory, and determining a final trajectory in each screened trajectory based on a preset sorting rule. By applying the scheme provided by the embodiment of the invention, the accuracy of trajectory planning can be improved.
本申请实施例公开一种轨迹规划方法、装置、电子设备及存储介质。该方法包括:获取环境感知结果和地图数据,并生成自车的多条初始轨迹;针对每条初始轨迹,获取该初始轨迹数据中包括的各时刻自车的第一行驶参数,针对任一周围车辆,从环境感知结果中获取该周围车辆各时刻的第二行驶参数,以及该周围车辆对应目标车辆各时刻的第三行驶参数,并根据第一行驶参数、第二行驶参数、以及第三行驶参数,基于预设运动模型,确定该周围车辆在该初始轨迹影响下的各预测轨迹;基于对应的各预测轨迹,对每条初始轨迹进行筛选,得到筛选后轨迹,并基于预设排序规则,在各筛选后轨迹中确定一最终轨迹。应用本申请实施例提供的方案,能够提高轨迹规划的准确性。
Track planning method and device, electronic equipment and storage medium
一种轨迹规划方法、装置、电子设备及存储介质
2025-04-22
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 |
Track planning method, electronic equipment and storage medium
European Patent Office | 2024
|Track planning method and device, vehicle, electronic equipment and storage medium
European Patent Office | 2023
|Tower crane track planning method, electronic equipment and storage medium
European Patent Office | 2022
|Lane changing track planning method and device, electronic equipment and storage medium
European Patent Office | 2024
|Track planning method and device, vehicle, electronic equipment and readable storage medium
European Patent Office | 2023
|