Trajectory planning method and device, electronic equipment and storage medium

Abstract

The invention discloses a trajectory planning method and device, electronic equipment and a storage medium, and relates to the field of automatic driving. The trajectory planning method can be appliedto the field of automatic driving, in particular to the field of automatic parking. The specific implementation scheme includes the steps: carrying out clustering analysis on obstacle information around a target parking space to determine first obstacle information and second obstacle information; determining an initial trajectory midpoint of the target vehicle entering the target parking space according to the first obstacle information; according to the target position of the target vehicle in the target parking space, the initial trajectory midpoint and the first obstacle information, generating a first trajectory between the target position and the initial trajectory midpoint; according to the current position of the target vehicle, the initial trajectory midpoint and the second obstacle information, generating a second trajectory between the current position and the initial trajectory midpoint; and controlling the target vehicle to reach the target position according to the firsttrack and the second track. According to the technical scheme of the embodiment of the invention, the consumption of computing resources can be reduced, and the trajectory planning speed is improved.

Description

technical field [0001] This application relates to the field of automatic driving, in particular to the field of trajectory planning. Background technique [0002] Autonomous driving technology is a technology that relies on artificial intelligence, visual computing, radar, monitoring devices and global positioning systems to work together to allow computers to automatically and safely operate vehicles. At present, in automatic driving, the search algorithm is basically used for global path search to realize trajectory planning, which has the problems of high computational resource consumption and slow calculation speed. Contents of the invention [0003] Embodiments of the present invention provide a trajectory planning method, device, electronic equipment, and storage medium to solve one or more technical problems in the prior art. [0004] In a first aspect, an embodiment of the present invention provides a trajectory planning method, including: [0005] Carrying out ...

AI Technical Summary

Problems solved by technology

At present, in automatic driving, the search algorithm is basically used for global path search to realize trajectory planning, which has the problems of high computational resource consumption and slow calculation speed.

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