Driving track planning method of automatic driving vehicle, related equipment and storage medium

Abstract

The invention discloses a driving track planning method of an automatic driving vehicle, related equipment and a storage medium. The driving track planning method comprises the steps: when a vehicle needs to pass through an intersection provided with traffic lights, acquiring the initial vehicle state of the vehicle at the current moment, the light state of the traffic lights, the remaining duration of the light state, the first preset ending vehicle state and the second preset ending vehicle state of the vehicle within the planning time range; then determining effective time of an equivalentobstacle corresponding to the traffic light according to the light state and the remaining duration of the traffic light; determining effective candidate driving tracks corresponding to the first preset ending vehicle state and the second preset ending vehicle state according to the initial vehicle state and the effective time of the equivalent obstacle; and selecting a target effective driving track with the minimum track cost value from the effective candidate driving track set as a planned driving track passing through the intersection. The automatic driving vehicle has high driving efficiency and high driving smoothness during driving.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a driving trajectory planning method of an automatic driving vehicle, related equipment and a storage medium. Background technique [0002] With the improvement of self-driving functions and safety levels, not only do self-driving vehicles need to complete driving tasks in specific scenarios, but also need to make efficient decisions and drive smoothly. Taking the intersection of traffic lights (that is, traffic lights) as an example, the self-driving vehicle needs to plan its driving trajectory when it needs to pass through the traffic light intersection. In related technologies, when the autonomous driving vehicle plans the driving trajectory through the traffic light intersection, the strategy comparison Single, can be roughly summarized as red light, yellow light deceleration, green light passing at a constant speed. Although this strategy is effective, the ...

AI Technical Summary

Problems solved by technology

Taking the intersection of traffic lights (that is, traffic lights) as an example, the self-driving vehicle needs to plan its driving trajectory when it needs to pass through the traffic light intersection. In related technologies, when the autonomous driving vehicle plans the driving trajectory through the traffic light intersection, the strate

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