Trajectory planning method, trajectory planning device, storage medium and electronic equipment

Abstract

The disclosure provides a trajectory planning method, device, storage medium and electronic equipment, and relates to the technical field of intelligent navigation. The method includes: obtaining the starting point and the ending point in the map, determining the state parameters of the starting point, and the state parameters include time; establishing an open list to record the state parameters of each node, and adding the starting point to the open list; The smallest node is the parent node. According to the state variable within the preset interval time, determine the state parameters of the child nodes of the parent node, add the child nodes to the open list, and remove the parent node from the open list; when adding the end point When opening the list, starting from the end point, connect the child nodes and their parent nodes in turn until the start point is connected to obtain the target path; according to the state parameters of each node in the target path, generate the target trajectory from the start point to the end point. The present disclosure can realize trajectory planning in a dynamic scene, and conform to the kinematic characteristics of objects such as vehicles.

Description

technical field [0001] The present disclosure relates to the technical field of intelligent navigation, and in particular to a trajectory planning method, a trajectory planning device, a computer-readable storage medium and electronic equipment. Background technique [0002] Motion Planning is to determine a constraint-compliant path between a given starting point and end point, and is widely used in vehicle navigation, automatic driving, unmanned aerial vehicle, robot control and other fields. [0003] At present, most motion planning stays at the stage of path planning, such as the A-star (A*) algorithm or hybrid A-star (Hybrid A*) algorithm commonly used in the industry, for complex unstructured static scenes, planning between the start point and the end point Draw a path of a geometric curve. However, path planning is mostly aimed at static scenes. When applied to dynamic scenes, there are the following problems: dynamic collision avoidance cannot be effectively realize...

AI Technical Summary

Problems solved by technology

[0006] The present disclosure provides a trajectory planning method, a trajectory planning device, a computer-readable storage medium, and an electronic device, thereby overcoming the problem that existing path planning methods are difficult to apply to dynamic scenes at least to a certain extent

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