The invention discloses a trajectory planning method and device, automatic driving equipment and a readable storage medium. The method comprises the following steps: acquiring perception information, a transverse track state and a longitudinal track state of the automatic driving equipment, wherein the perception information comprises pose information, speed information and environment information; in response to the fact that the transverse track state is a first state, a first transverse track is determined based on the pose information, and the first transverse track is used for keeping extension of the current course angle; in response to the fact that the longitudinal track state is a second state, a first longitudinal track is determined based on the speed information, and the first longitudinal track is used for representing a speed track of stable deceleration; and performing current frame trajectory planning on the automatic driving equipment based on the first transverse trajectory and the first longitudinal trajectory. According to the method, the discontinuity caused by the track state of the current frame can be greatly improved, the discomfort of passengers caused by strong braking is improved, and the driving experience of the passengers is improved.

    本申请公开了一种轨迹规划方法、装置、自动驾驶设备及可读存储介质。该方法包括:获取自动驾驶设备的感知信息、横向轨迹状态和纵向轨迹状态,感知信息包括位姿信息、速度信息和环境信息;响应于横向轨迹状态为第一状态,基于位姿信息,确定第一横向轨迹,第一横向轨迹用于保持当前航向角延伸;响应于纵向轨迹状态为第二状态,基于速度信息,确定第一纵向轨迹,第一纵向轨迹用于表征平稳减速的速度轨迹;基于第一横向轨迹和第一纵向轨迹,对自动驾驶设备进行当前帧轨迹规划。本申请能够极大地改善当前帧的轨迹状态所造成的不连续性,以及改善乘客对于强刹车所产生的不适感,提升乘客的行驶体验。


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    Title :

    Track planning method and device, automatic driving equipment and readable storage medium


    Additional title:

    轨迹规划方法、装置、自动驾驶设备及可读存储介质


    Contributors:
    XIE JIAYU (author) / HE YIYI (author) / LI DONG (author) / YANG JUNHUI (author)

    Publication date :

    2025-05-23


    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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