Track planning method, device and equipment and computer readable storage medium

Abstract

The embodiment of the invention discloses a trajectory planning method, device and equipment and a computer readable storage medium. The method comprises the following steps: acquiring traffic information of a to-be-decided object and driving information of the to-be-decided object; planning an initial trajectory of the to-be-decided object in a conflict range at a collaborative decision moment in the traffic information according to a moment when the to-be-decided object is expected to enter the conflict range and the driving information; and if the initial trajectory conflicts with the established trajectory, increasing the unit delay time of the to-be-decided object entering the conflict range until the planned trajectory does not conflict with the established trajectory, and obtaining the driving trajectory of the to-be-decided object. The established track represents the determined track and comprises the established track of the vehicle and the space-time sequence occupied when the signal lamp of the pedestrian crossing passes, during track planning, vehicle-vehicle and person-vehicle cooperative management of the road intersection is achieved, and the passing efficiency of the road intersection is improved.

Description

technical field [0001] The present application relates to the field of computer technology, and in particular to a trajectory planning method, device, equipment and computer-readable storage medium. Background technique [0002] The development of artificial intelligence technology and communication technology has brought technological innovation to the traditional transportation system and promoted the development and application of intelligent networked vehicles. Intelligent networked vehicles can replace human drivers to complete a wide range of surrounding environment perception, efficient driving decision-making, and automated vehicle control. Through the Internet of Vehicles technology, intelligent networked vehicles and roads, and between intelligent networked vehicles and intelligent networked vehicles can communicate with each other, so as to realize the collaborative management between vehicles, vehicles and roads, reduce traffic conflicts, and improve traffic scen...

AI Technical Summary

Problems solved by technology

[0004] However, the signal timing control scheme is inflexible, and the time allocation of different signals is difficult to adjust in real time with the change of road traffic flow, which reduces the traffic efficiency of road crossings

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