Trajectory planning method and device

Abstract

The invention discloses a trajectory planning method and device. The method comprises the steps of: obtaining state information required by unmanned equipment trajectory planning; determining a plurality of to-be-determined driving decisions corresponding to the state information and the decision value of each to-be-determined driving decision through a father planning model; and selecting an undetermined driving decision corresponding to the maximum decision value as a driving decision corresponding to the state information, determining a planning action for realizing the driving decision through the sub-planning model corresponding to the selected driving decision, and planning the track of the unmanned equipment according to the planning action. The trajectory planning method provided by the invention is suitable for all scenes in the prior art, does not need to determine the type of the scene, solves a problem that the scene division is not accurate and reasonable in the prior art,and achieves a beneficial effect that the unmanned equipment plans a better trajectory when achieving a driving decision corresponding to the maximum decision value.

Description

technical field [0001] The present application relates to the field of unmanned driving technology, in particular to a method and device for trajectory planning. Background technique [0002] With the continuous advancement of science and technology, unmanned driving technology has gradually matured, and the use of unmanned equipment to replace manual transportation has become a mainstream trend. [0003] Unmanned equipment needs to make trajectory planning during operation. In the trajectory planning process of unmanned equipment, the operating environment of unmanned equipment can be divided into several scenarios in advance, such as urban road scenarios, park scenarios, etc., where different scenarios correspond to different trajectory planning algorithms. According to the data collected by the sensor, the unmanned device determines the location of the unmanned device and the surrounding environment and other information. The corresponding trajectory planning algorithm ...

AI Technical Summary

Problems solved by technology

[0004] However, in the existing technology, when dividing the operating environment of the unmanned equipment, due to the complexity of the real environment, the scene division is not accurate and reasonable, making the trajectory planning of the unmanned equipment difficult

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