A vehicle driving trajectory planning method and device

Abstract

The embodiment of the specification discloses a vehicle driving track planning method and device, comprising: determining a driving reference line of a preset length of a target vehicle according to navigation path information and vehicle position information; further judging whether the driving reference line meets a preset trigger condition determined according to a target map element corresponding to a preset driving scene; if yes, using a track planning algorithm corresponding to the preset driving scene to plan a track for the target vehicle. Thus, the driving scene of the target vehicle can be determined according to the target map element with a distance less than or equal to the preset length from the target vehicle, and then the vehicle driving track planning is performed, without determining the driving scene of the target vehicle according to dynamic traffic environment data changing over time to perform track planning, so that the robustness of the driving scene determination process and the vehicle driving track planning result can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of trajectory planning, in particular to a vehicle driving trajectory planning method and device. BACKGROUND

[0002] Automatic driving is an era product of deep integration of multiple technology fields, and has the advantages of significantly improving traffic safety and reducing traffic congestion. In recent years, the development of technologies in the fields of artificial intelligence, big data, cloud platforms, etc. has provided strong support for the socialization and popularization of automatic driving vehicles.

[0003] An automatic driving vehicle usually faces various driving scenarios when driving, and the determination of a driving scenario is the first step of trajectory planning for an automatic driving vehicle. In the prior art, a driving scenario is usually determined according to dynamic traffic environment data of interaction conflict points between an automatic driving vehicle and surrounding vehicles; however, the surrounding dynamic traffic environment data changes all the time, and the perceived dynamic traffic environment data is not necessarily accurate, so the robustness of the automatic driving scenario determined based on the dynamic traffic environment data cannot be guaranteed, and thus a suitable trajectory planning algorithm cannot be used, so as to fail to guarantee the robustness of the vehicle driving trajectory planning result. SUMMARY

[0004] To solve the above technical problems, the embodiments of the present specification provide a vehicle driving trajectory planning method and device to improve the robustness of the vehicle driving trajectory planning result.

[0005] The vehicle driving trajectory planning method provided by the embodiments of the present specification comprises:

[0006] Obtaining navigation path information and vehicle position information of a target vehicle.

[0007] According to the navigation path information, a driving reference line of a preset length of the target vehicle is determined; the driving reference line is used to guide the target vehicle to drive along the path indicated by the navigation path information from the position corresponding to the vehicle position information.

[0008] It is judged whether the driving reference line satisfies a preset triggering condition of a preset driving scenario, to obtain a first judgment result; the preset triggering condition is determined according to a target map element in the preset driving scenario that has an influence on trajectory planning of the target vehicle.

[0009] If the first judgment result indicates that the driving reference line satisfies the preset triggering condition of the preset driving scenario, a trajectory planning algorithm corresponding to the preset driving scenario is used to perform trajectory planning processing on the target vehicle.

[0010] The vehicle driving trajectory planning device provided by the embodiments of the present specification comprises:

[0011] at least one processor; and

[0012] a memory communicatively connected with the at least one processor; wherein

[0013] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0014] obtain navigation path information and vehicle position information of a target vehicle;

[0015] determine a driving reference line of a preset length of the target vehicle according to the navigation path information; the driving reference line is used to guide the target vehicle to travel along a path indicated by the navigation path information from a position corresponding to the vehicle position information;

[0016] determine whether the driving reference line satisfies a preset triggering condition of a preset driving scenario, to obtain a first determination result; the preset triggering condition is determined according to a target map element that has an influence on trajectory planning of the target vehicle in the preset driving scenario;

[0017] if the first determination result indicates that the driving reference line satisfies the preset triggering condition of the preset driving scenario, use a trajectory planning algorithm corresponding to the preset driving scenario to perform trajectory planning processing on the target vehicle. The above at least one technical solution adopted by the embodiments of the present specification can achieve the following beneficial effects:

[0018] The embodiments of the present specification disclose a vehicle driving trajectory planning method and device, comprising: determining a driving reference line of a preset length of a target vehicle according to navigation path information and vehicle position information; and further determining whether the driving reference line satisfies a preset triggering condition determined according to a target map element corresponding to a preset driving scenario; if so, using a trajectory planning algorithm corresponding to the preset driving scenario to perform trajectory planning, so that the driving scenario of the target vehicle can be determined according to the target map element whose distance from the target vehicle is less than or equal to a preset length. Since the basis for determining the driving scenario is the target map element, and the dynamic traffic environment data that changes over time is not included, the robustness of the vehicle driving trajectory planning process is better, thereby facilitating the improvement of the robustness of the driving trajectory planning result of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description only represent some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these accompanying drawings without any creative labor.

[0020] Figure 1 A flowchart of a vehicle driving trajectory planning method provided by an embodiment of the present specification.

[0021] Figure 2 A schematic diagram of a pedestrian avoidance scenario provided by an embodiment of the present specification.

[0022] Figure 3 A schematic diagram of a same-direction vehicle avoidance scenario provided by an embodiment of the present specification.

[0023] Figure 4 A schematic diagram of an opposite-direction vehicle avoidance scenario provided by an embodiment of the present specification.

[0024] Figure 5 A schematic diagram of another opposite-direction vehicle avoidance scenario provided by an embodiment of the present specification.

[0025] Figure 6 A schematic diagram of a vehicle U-turn scenario provided by an embodiment of the present specification.

[0026] Figure 7 A schematic diagram of a vehicle driving trajectory planning device corresponding to Figure 1 An embodiment of the present specification. DETAILED DESCRIPTION

[0027] In order to make those skilled in the art better understand the technical solutions in the present specification, the following will be combined with

[0028] The accompanying drawings in the embodiments of the present specification, for

[0029] The technical solutions in the embodiments of the present specification are described clearly and completely, obviously, the described embodiments only represent some embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present specification, all other embodiments obtained by those skilled in the art without any creative labor should belong to the protection scope of the present application.

[0030] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0031] The above-described embodiments are only to describe the preferred modes of the present application, and not to limit the scope of the present application. Any modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application as defined by the claims.

[0032] In the prior art, the driving scene is usually determined according to the dynamic traffic environment data of the interaction conflict point between the autonomous vehicle and the surrounding vehicles; however, the surrounding dynamic traffic environment data changes all the time, and the perceived dynamic traffic environment data is not necessarily accurate, so the robustness of the driving scene determined based on the dynamic traffic environment data cannot be guaranteed, and thus a suitable trajectory planning algorithm cannot be adopted, so as to fail to guarantee the robustness of the vehicle driving trajectory planning result. In order to solve the defects in the prior art, the present scheme gives the following embodiments:

[0033] Figure 1 A flowchart of a vehicle driving trajectory planning method provided by an embodiment of the present application is shown in the figure.

[0034] From the program point of view, the execution subject of the flowchart can be a navigation server or a navigation client, and can also be an application program loaded on the navigation server or the navigation client. As shown in the figure, the flowchart can include the following steps: Figure 1

[0035] Step 101: Obtain the navigation path information and vehicle position information of the target vehicle.

[0036] In the embodiment of the present application, the navigation path information is used to reflect the path information of the target vehicle from the starting point or the current position to the destination, and can include road-level navigation information or lane-level navigation information.

[0037] In the embodiment of the present application, the vehicle position information can refer to the position information of the target vehicle at the current time.

[0038] ​Step 103: determining a driving reference line of a preset length of the target vehicle according to the navigation path information; the driving reference line is used to guide the target vehicle to travel along the path indicated by the navigation path information from a position corresponding to the vehicle position information.

[0039] In the embodiments of the present specification, the driving reference line can refer to a center line of a plurality of to-be-traveled paths of a total length of the preset length to be traveled by the target vehicle at the current position.

[0040] In the embodiments of the present specification, the determination process of the driving reference line can be: according to the navigation path information and the vehicle position information of the target vehicle, a plurality of to-be-traveled paths of the target vehicle are determined in turn according to the order from near to far, until the total length of the plurality of to-be-traveled paths reaches the preset length.

[0041] In the embodiments of the present specification, the preset length can be determined according to the speed information and the braking acceleration of the target vehicle, or can be determined according to the speed limit value and the braking acceleration of the road where the target vehicle is located, or can be set as a fixed value.

[0042] Step 105: determining whether the driving reference line satisfies a preset triggering condition of a preset driving scene to obtain a first determination result; the preset triggering condition is determined according to a target map element that has an influence on the trajectory planning of the target vehicle in the preset driving scene.

[0043] In the embodiments of the present specification, a plurality of preset driving scenes can be set according to actual conditions; for any one of the preset driving scenes, a preset triggering condition corresponding to the preset driving scene can be set according to a target map element involved in the preset driving scene. The preset triggering condition of any one of the preset driving scenes can include a plurality of sub-conditions; when one or more of the sub-conditions are satisfied, the preset driving scene can be taken as a target preset scene.

[0044] In the embodiments of the present specification, the target map element can include a map element that has an influence on the trajectory planning of the target vehicle, and more specifically, if a traffic flow that intersects or crosses the driving reference line can exist at a certain map element, the map element is a map element that has an influence on the trajectory planning of the target vehicle, and then the map element can be taken as the target map element.

[0045] Step 107: if the first determination result indicates that the driving reference line satisfies the preset triggering condition of the preset driving scene, a trajectory planning algorithm corresponding to the preset driving scene is used to perform trajectory planning processing on the target vehicle.

[0046] In the embodiments of the present specification, the trajectory planning algorithm corresponding to the preset driving scene can be used to perform trajectory planning processing on the target vehicle according to the influence of the target map element involved in the preset driving scene on trajectory planning.

[0047] In the embodiments of the present specification, the driving reference line of the preset length of the target vehicle is determined according to the navigation path information and the vehicle position information; and then it is judged whether the driving reference line satisfies the preset trigger condition determined according to the target map element corresponding to the preset driving scene; if yes, the trajectory planning algorithm corresponding to the preset driving scene is used for trajectory planning, so that the driving scene of the target vehicle can be determined according to the target map element whose distance from the target vehicle is less than or equal to the preset length. Since the basis for determining the driving scene is the target map element, the dynamic traffic environment data that changes at moments can not be included, so the robustness of the driving scene determination process and the vehicle driving trajectory planning result can be improved.

[0048] Based on the method in Figure 1 In the embodiments of the present specification, some specific implementation schemes of the method are further provided, which are described below.

[0049] Further, the judgment of whether the driving reference line satisfies the preset trigger condition of the preset driving scene to obtain a first judgment result can specifically include:

[0050] The judgment of whether the target vehicle and the target map element in the driving reference line satisfy a preset position trigger condition to obtain a second judgment result.

[0051] The preset position trigger condition can include that the current distance between the target vehicle and the target map element is less than or equal to a first preset distance.

[0052] In the embodiments of the present specification, the current distance between the target vehicle and the target map element can refer to the minimum distance from the current position of the target vehicle to the target map element along the driving reference line, which can be obtained by calculating the length of the to-be-traveled path between the current position of the target vehicle and the target map element.

[0053] In the embodiments of the present specification, the first preset distance can be determined according to the influence of the target map element on the target vehicle, different distances can be set in different driving scenes, and the distance can also be adjusted according to the speed of the target vehicle, the speed limit value of the road, and the like.

[0054] In the embodiments of the present specification, the determining whether the target vehicle and the target map element in the driving reference line meet the preset position trigger condition can include: determining whether the target map element is included in the driving reference line; if the target map element is included, determining the current distance between the target vehicle and the target map element; and further determining whether the current distance between the target vehicle and the target map element is less than or equal to a first preset distance.

[0055] In the embodiments of the present specification, the determining whether the driving reference line meets the preset trigger condition of the preset driving scene according to the current distance between the target vehicle and the target map element has better robustness in the driving scene determination process, because the determination of the driving scene is based on the current distance between the target vehicle and the target map element, and does not include dynamic traffic environment data that changes over time. At the same time, because the determination of the driving scene is based on less information, the application range of the trajectory planning algorithm corresponding to the driving scene is expanded.

[0056] Further, the preset driving scene can include a lane changing scene.

[0057] The target map element can include a lane available in the driving reference line except the lane where the target vehicle is located when the target vehicle is located at a position corresponding to the vehicle position information.

[0058] The determining whether the target vehicle and the target map element in the driving reference line meet the preset position trigger condition can include:

[0059] The determining whether the target vehicle and the target map element in the driving reference line meet the preset position trigger condition can include:

[0060] If the first determination result indicates that the driving reference line meets the preset trigger condition of the preset driving scene, the trajectory planning algorithm corresponding to the preset driving scene can be used to perform trajectory planning processing on the target vehicle, and the specific operations can include:

[0061] The step 105 can specifically include:

[0062] If the third determination result indicates that the current distance between the target vehicle and the available lane is less than or equal to the second preset distance, the trajectory planning algorithm corresponding to the lane changing scene can be used to perform trajectory planning processing on the target vehicle.

[0063] In the embodiments of the present specification, when the target vehicle is located at the position corresponding to the vehicle position information, the available lane (hereinafter referred to as available lane) in the driving reference line except the lane where the target vehicle is located can refer to the lane in the driving reference line except the lane where the target vehicle is located and available for changing lane; the available lane can specifically include the lane on the left and right sides of the target vehicle, or the lane in front of the target vehicle.

[0064] In the embodiments of the present specification, if the available lane is the lane on the left and right sides of the target vehicle, since the current distance between the target vehicle and the available lane is generally small, the current distance between the target vehicle and the available lane can not be calculated, and it can be directly determined whether the current distance between the target vehicle and the available lane is less than or equal to the second preset distance.

[0065] In the embodiments of the present specification, if the changing lane trajectory planning algorithm is only enabled when the available lane is on the left and right sides of the target vehicle, the second preset distance can be set to zero.

[0066] In the embodiments of the present specification, if the available lane is the lane in front of the current lane, the current distance between the target vehicle and the available lane needs to be further calculated, and it is determined whether the current distance between the target vehicle and the available lane is less than or equal to the second preset distance.

[0067] In the embodiments of the present specification, by setting the available lane except the lane where the target vehicle is located as the target map element of the changing lane scene, and according to the current distance between the target vehicle and the available lane, it is determined whether the preset triggering condition of the preset driving scene is met; thereby when the target vehicle needs to change lane, it is accurately determined that the target vehicle needs to activate the changing lane scene, and then the changing lane planning algorithm is started for trajectory planning.

[0068] Further, the preset driving scene can include a pedestrian avoidance scene; and the target map element can include a pedestrian crossing.

[0069] The determination of whether the target vehicle and the target map element in the driving reference line meet the preset position triggering condition to obtain a second determination result can specifically include:

[0070] Determining whether the current distance between the target vehicle and the pedestrian crossing is less than or equal to a third preset distance to obtain a fourth determination result.

[0071] The step 105 can specifically include:

[0072] If the fourth determination result indicates that the current distance between the target vehicle and the pedestrian crossing is less than or equal to a third preset distance, a trajectory planning algorithm corresponding to the pedestrian-avoiding scenario is used to perform trajectory planning processing on the target vehicle.

[0073] Figure 2 A pedestrian-avoiding scenario schematic diagram is provided for an embodiment of the present specification. Among them, 2-1 is a target vehicle, 2-2 is a driving reference line, 2-3 is a pedestrian crossing, and L1 is the current distance between the target vehicle and the pedestrian crossing.

[0074] The following is combined with Figure 2 The pedestrian-avoiding scenario is described. If the driving reference line crosses the pedestrian crossing, and the current distance between the target vehicle and the pedestrian crossing is less than or equal to a third preset distance (for example, 60 meters), a pedestrian-avoiding planning algorithm corresponding to the pedestrian-avoiding scenario is used to perform trajectory planning processing on the target vehicle.

[0075] In actual application, when the target vehicle crosses the pedestrian crossing, it is difficult to accurately determine whether there is a pedestrian crossing the lane where the target vehicle is located due to obstacles and other reasons. Therefore, scene judgment based on the dynamic traffic environment data may cause the pedestrian-avoiding planning algorithm to be started in time, and thus cause a traffic accident.

[0076] Therefore, in the embodiment of the present specification, if the driving reference line crosses the pedestrian crossing, the pedestrian-avoiding planning algorithm is used to perform trajectory planning processing on the target vehicle in advance, rather than using the pedestrian-avoiding planning algorithm again after determining whether a pedestrian is crossing the road based on the dynamic traffic environment data. Therefore, the robustness of the process of determining the driving scenario is better. In addition, the target vehicle can avoid by decelerating or stopping in advance because the pedestrian-avoiding planning algorithm is used to perform trajectory planning processing on the target vehicle in advance. Therefore, the possibility of a traffic accident can be reduced, and the damage caused by a traffic accident can be reduced.

[0077] Further, the preset driving scenario can include a same-direction vehicle-avoiding scenario; and the target map element can include a lane merging position.

[0078] The determination of whether the target vehicle and the target map element in the driving reference line meet the preset position trigger condition to obtain a second determination result can specifically include:

[0079] Determining whether the current distance between the target vehicle and the lane merging position is less than or equal to a fourth preset distance to obtain a fifth determination result.

[0080] The step 105 can specifically include:

[0081] If the fifth determination result indicates that the current distance between the target vehicle and the lane merging position is less than or equal to a fourth preset distance, a trajectory planning algorithm corresponding to the scenario of avoiding the oncoming vehicle is used to perform trajectory planning processing on the target vehicle.

[0082] In the embodiments of the present specification, lane merging can refer to at least one of the following: vehicles on two lanes being allowed to enter a certain lane at the same time at the same position, lane merging, lane interweaving, a decrease in the number of lanes, and each lane of an upstream road section being allowed to enter each entrance lane of an intersection. Correspondingly, the lane merging position can refer to a location where vehicles from different lanes are allowed to pass each other at a small angle at the same time, and can specifically include at least one of the following: a lane merging point, a lane interweaving point, a location where the number of lanes decreases, and a connection between each lane of an upstream road section and an entrance lane of an intersection. If each lane is represented by a lane center line, the lane merging position can be represented as a merging point of the lane center line.

[0083] Figure 3 A schematic diagram of a scenario of avoiding an oncoming vehicle is provided in the embodiments of the present specification.

[0084] The following will be described in combination with Figure 3 The scenario of avoiding an oncoming vehicle is described. Figure 3 In the embodiments of the present specification, 3-1 is the target vehicle, 3-2 is the right-turn lane where the target vehicle is located, 3-3 is a straight lane, and 3-4 is a lane merging point of the straight lane and the right-turn lane where the target vehicle is located. If the driving reference line passes through the lane merging point 3-4, and the current distance between the target vehicle and the lane merging point 3-4 is less than or equal to a fourth preset distance, a lane merging vehicle planning algorithm corresponding to the scenario of avoiding an oncoming vehicle is used to perform trajectory planning processing on the target vehicle.

[0085] In the embodiments of the present specification, if the driving reference line passes through the lane merging position, the trajectory planning processing on the target vehicle is performed in advance using the lane merging vehicle planning algorithm, rather than determining whether traffic flow intersection occurs according to the dynamic traffic environment data, so that the robustness of the vehicle trajectory planning process is better. In addition, the target vehicle can avoid by decelerating or stopping in advance, because the trajectory planning processing on the target vehicle is performed in advance using the lane merging vehicle planning algorithm, so that the possibility of traffic accidents can be reduced and the damage caused by traffic accidents can be reduced.

[0086] Further, the preset driving scenario can include a scenario of avoiding an oncoming vehicle; and the target map element can include a lane intersection position.

[0087] The judgment of whether the target vehicle and the target map element in the driving reference line meet a preset position trigger condition obtains a second judgment result, and specifically can include:

[0088] The judgment of whether the current distance between the target vehicle and the lane intersection position is less than or equal to a fifth preset distance obtains a sixth judgment result.

[0089] The step 105, specifically can include:

[0090] If the sixth judgment result indicates that the current distance between the target vehicle and the lane intersection position is less than or equal to the fifth preset distance, a trajectory planning algorithm corresponding to the avoiding head-on vehicle scenario is used to perform trajectory planning processing on the target vehicle.

[0091] In the embodiments of the present specification, the lane intersection can refer to two lanes intersecting with each other at a large angle. The lane intersection position can include a conflict point at which vehicles on two lanes can collide at a large angle when the two lanes intersect with each other at a large angle, such as at least one of the conflict points of straight lanes from two perpendicular directions, the conflict points of left-turn lanes from two adjacent directions, and the conflict points of straight lanes and left-turn lanes from other directions in an intersection. If each lane is represented by a lane center line, the lane merging position can be represented as the intersection point of the lane center lines.

[0092] In the embodiments of the present specification, the current distance between the target vehicle and the lane intersection position can refer to the current distance between the target vehicle and the conflict point at which a collision can occur, and can also refer to the current distance between the target vehicle and the to-be-traveled lane containing the conflict point.

[0093] In the embodiments of the present specification, when the target vehicle does not enter the to-be-traveled lane containing the conflict point, the current distance between the target vehicle and the to-be-traveled lane containing the conflict point can refer to the current distance between the target vehicle and the stop line of the to-be-traveled lane containing the conflict point.

[0094] When the target vehicle enters the to-be-traveled lane containing the conflict point, the current distance between the target vehicle and the to-be-traveled lane containing the conflict point can be considered as zero, and the trajectory planning algorithm corresponding to the avoiding head-on vehicle scenario is directly used to perform trajectory planning processing on the target vehicle.

[0095] Figure 4 An avoiding head-on vehicle scenario diagram is provided for the embodiments of the present specification.

[0096] The following will be combined Figure 4 to describe the avoiding head-on vehicle scenario. Figure 4In the figure, 4-1 is the target vehicle, 4-2 is the left-turn lane where the target vehicle is located, 4-3 is the opposite straight lane, and 4-4 is the lane conflict point of the opposite straight lane and the left-turn lane where the target vehicle is located. If the driving reference line passes through the lane conflict point 4-4, and the current distance between the target vehicle and the lane conflict point 4-4 is less than or equal to the fifth preset distance, the target vehicle is subjected to trajectory planning processing using the avoidance of opposite vehicle planning algorithm corresponding to the avoidance of opposite vehicle scenario. In addition, Figure 4 In the figure, 4-1 is the target vehicle, 4-2 is the left-turn lane where the target vehicle is located, 4-3 is the opposite straight lane, and 4-4 is the lane conflict point of the opposite straight lane and the left-turn lane where the target vehicle is located. If the driving reference line passes through the lane conflict point 4-4, and the current distance between the target vehicle and the lane conflict point 4-4 is less than or equal to the fifth preset distance, the target vehicle is subjected to trajectory planning processing using the avoidance of opposite vehicle planning algorithm corresponding to the avoidance of opposite vehicle scenario. In addition,

[0097] In addition, if the driving reference line passes through the lane conflict point 4-4, and the target vehicle enters the left-turn lane 4-2 where the lane conflict point 4-4 is located, the current distance (the distance is zero) between the target vehicle and the left-turn lane 4-2 where the lane conflict point 4-4 is located is less than or equal to the fifth preset distance, and the target vehicle is subjected to trajectory planning processing using the avoidance of opposite vehicle planning algorithm corresponding to the avoidance of opposite vehicle scenario.

[0098] Figure 5 Another avoidance of opposite vehicle scenario diagram provided by the embodiments of the present application.

[0099] The avoidance of opposite vehicle scenario is described below. Figure 5 The avoidance of opposite vehicle scenario is described below. Figure 5 In the figure, 4-1 is the target vehicle, 4-2 is the left-turn lane where the target vehicle is located, 4-3 is the opposite straight lane, and 4-4 is the lane conflict point of the opposite straight lane and the left-turn lane where the target vehicle is located. If the driving reference line passes through the lane conflict point 4-4, and the current distance between the target vehicle and the lane conflict point 4-4 is less than or equal to the fifth preset distance, the target vehicle is subjected to trajectory planning processing using the avoidance of opposite vehicle planning algorithm corresponding to the avoidance of opposite vehicle scenario. In addition,

[0100] In the embodiments of the present application, if the driving reference line passes through the lane intersection position, the trajectory planning processing of the target vehicle is performed in advance using the avoidance of opposite vehicle planning algorithm, rather than determining whether the traffic flow intersection occurs according to the dynamic traffic environment data, so that the robustness of the vehicle driving trajectory planning process is better. In addition, since the trajectory planning processing of the target vehicle is performed in advance using the avoidance of opposite vehicle planning algorithm, the target vehicle can avoid by decelerating or stopping in advance, so that the possibility of traffic accidents can be reduced and the damage caused by traffic accidents can be reduced.

[0101] Further, the preset driving scene can include a traffic signal light passing scene; and the target map element can include a lane controlled by a traffic signal light in an intersection.

[0102] The determining whether the target vehicle and the target map element in the driving reference line satisfy a preset position trigger condition can obtain a second determination result, and specifically can include:

[0103] Determining whether a current distance between the target vehicle and the lane controlled by the traffic signal light in the intersection is less than or equal to a sixth preset distance can obtain a seventh determination result.

[0104] The step 105 can specifically include:

[0105] If the seventh determination result indicates that the current distance between the target vehicle and the lane controlled by the traffic signal light in the intersection is less than or equal to the sixth preset distance, a trajectory planning algorithm corresponding to the traffic signal light passing scene is used to perform trajectory planning processing on the target vehicle.

[0106] In the embodiments of the present specification, the lane controlled by the traffic signal light in the intersection (hereinafter referred to as a controlled lane) can include at least one of a left-turn lane, a straight lane and a right-turn lane controlled by a traffic signal light in an intersection.

[0107] In the embodiments of the present specification, if the right-turn lane in the intersection is not controlled by a traffic signal light, and the to-be-traveled trajectory of the target vehicle includes the right-turn lane, the traffic signal light passing planning algorithm corresponding to the traffic signal light passing scene can also not be used to perform trajectory planning processing on the target vehicle.

[0108] In the embodiments of the present specification, if the driving reference line passes through the controlled lane, the traffic signal light passing planning algorithm is used to perform trajectory planning processing on the target vehicle in advance, instead of determining whether the controlled lane is being allowed to pass according to the dynamic traffic environment data to enable the traffic signal light passing planning algorithm again, so that the robustness of the driving scene determination process is better. In addition, since the traffic signal light passing planning algorithm is used to perform trajectory planning processing on the target vehicle in advance, the target vehicle can avoid by decelerating or stopping in advance, so that the possibility of traffic accidents can be reduced and the damage caused by traffic accidents can be reduced.

[0109] Further, the preset driving scene can include a vehicle U-turn scene; and the target map element can include a U-turn lane.

[0110] The determining whether the target vehicle and the target map element in the driving reference line satisfy a preset position trigger condition can obtain a second determination result, and specifically can include:

[0111] determining whether a current distance between the target vehicle and the U-turn lane is less than or equal to a seventh preset distance, to obtain an eighth determination result.

[0112] The step 105 can specifically include:

[0113] If the eighth determination result indicates that the current distance between the target vehicle and the U-turn lane is less than or equal to the seventh preset distance, a trajectory planning algorithm corresponding to the vehicle U-turn scenario is used to perform trajectory planning processing on the target vehicle.

[0114] In the embodiments of the present specification, the U-turn lane can refer to a lane in the driving reference line that allows the target vehicle to U-turn, and can specifically include a lane that allows U-turn at an intersection, a yellow dashed line at the center of a road, and the like.

[0115] In the embodiments of the present specification, the current distance between the target vehicle and the U-turn lane can refer to a distance between a current position of the target vehicle and a position at which the target vehicle is ready to start U-turn driving.

[0116] Figure 6 A vehicle U-turn scenario diagram is provided in the embodiments of the present specification.

[0117] The following will be described in combination with Figure 6 The vehicle U-turn scenario is described. Figure 6 In the embodiments, 6-1 is the target vehicle, and 6-2 is a U-turn lane in the driving reference line. If the current distance L3 between the target vehicle and the U-turn lane is less than or equal to the seventh preset distance, the U-turn planning algorithm is used in advance to perform trajectory planning processing on the target vehicle, so that the target vehicle can slow down to an appropriate speed in advance to complete the U-turn.

[0118] In the embodiments of the present specification, if the driving reference line passes through the U-turn lane, the U-turn planning algorithm is used in advance to perform trajectory planning processing on the target vehicle, rather than enabling the U-turn planning algorithm again according to the determination of whether the U-turn driving is causing a vehicle collision. Therefore, the robustness of the vehicle driving trajectory planning process is better. In addition, since the U-turn planning algorithm is used in advance to perform trajectory planning processing on the target vehicle, the target vehicle can slow down to an appropriate speed in advance to complete the U-turn, so that the possibility of traffic accidents can be reduced and the damage caused by traffic accidents can be reduced.

[0119] Further, the preset driving scenario can be various.

[0120] The determination of whether the driving reference line satisfies the preset triggering condition of the preset driving scenario to obtain a first determination result can specifically include:

[0121] determine whether the driving reference line meets preset triggering conditions of each of the preset driving scenes, to obtain a first determination result corresponding to each of the preset driving scenes.

[0122] The step 105 can specifically include:

[0123] According to the first determination result corresponding to each of the preset driving scenes, a target driving scene set is determined; the target driving scene set can include a preset driving scene corresponding to the first determination result indicating that the preset triggering condition is met.

[0124] The target vehicle is subjected to trajectory planning processing using a trajectory planning algorithm corresponding to a preset driving scene in the target driving scene set.

[0125] In the embodiments of the present specification, the target vehicle is subjected to trajectory planning processing using the trajectory planning algorithm corresponding to the preset driving scene in the target driving scene set, which can specifically include: each of the trajectory planning algorithms corresponding to each of the preset driving scenes in the target driving scene set is used for trajectory planning processing, to obtain a planning result corresponding to each of the trajectory planning algorithms; and the planning results corresponding to each of the trajectory planning algorithms are fused to obtain a final unique planning result as a trajectory planning result of the target vehicle.

[0126] For example, when the target vehicle is about to turn right at an intersection, if the right-turn lane in the intersection is not controlled by a traffic signal, the right-turn lane needs to pass through a pedestrian crosswalk, and the right-turn lane will merge with a left-turn lane or a straight lane in other directions. Since the current distance between the target vehicle and the pedestrian crosswalk is less than or equal to a third preset distance, and the current distance between the target vehicle and the lane merging position is less than or equal to a fourth preset distance, at least the target driving scene set can include the pedestrian avoidance scene and the same-direction vehicle avoidance scene. The target vehicle is subjected to trajectory planning processing using a pedestrian avoidance planning algorithm and a same-direction vehicle avoidance planning algorithm, respectively, to obtain a pedestrian avoidance planning result and a same-direction vehicle avoidance planning result; and the pedestrian avoidance planning result and the same-direction vehicle avoidance planning result are fused to obtain a final unique planning result as a trajectory planning result of the target vehicle.

[0127] In the embodiments of the present specification, for multiple driving scenes that often occur together, a driving scene and a corresponding trajectory planning algorithm can be set, that is, a plurality of driving scenes that occur at the same time can be coped with by using a certain trajectory planning algorithm.

[0128] Based on this, the trajectory planning algorithm corresponding to the preset driving scene in the target driving scene set is used to perform trajectory planning processing on the target vehicle. Specifically, the trajectory planning algorithm corresponding to any of the preset driving scenes in the target driving scene set can be used to perform trajectory planning processing respectively, and a final unique planning result is obtained as the trajectory planning result of the target vehicle.

[0129] For example, when the target vehicle is about to turn right at an intersection, if the right-turn lane at the intersection is controlled by a traffic signal, the right-turn lane needs to cross a pedestrian crosswalk, and the right-turn lane will merge with a left-turn lane or a straight lane in other directions. Since the current distance between the target vehicle and the controlled right-turn lane in the intersection is less than or equal to a sixth preset distance, the current distance between the target vehicle and the pedestrian crosswalk is less than or equal to a third preset distance, and the current distance between the target vehicle and the lane merging position is less than or equal to a fourth preset distance, the target driving scene set can at least include the traffic signal passing scene, the pedestrian avoiding scene, and the same direction vehicle avoiding scene. If the traffic signal passing planning algorithm also includes an algorithm for avoiding other traffic flow and / or limiting intersection passing speed to prevent collision, in this case, only the traffic signal passing planning algorithm can be used to perform trajectory planning processing on the target vehicle to obtain a final unique planning result as the trajectory planning result of the target vehicle.

[0130] In the embodiments of the present specification, the target driving scene set composed of the preset driving scenes satisfying the preset trigger conditions is obtained by judging whether the driving reference line satisfies the preset trigger conditions of each preset driving scene, and then the trajectory planning algorithm corresponding to the preset driving scene in the target driving scene set is used to perform trajectory planning processing on the target vehicle. In this way, trajectory planning processing can be performed on the target vehicle in a complex driving scene.

[0131] Based on the same idea as shown in the scheme in Figure 1 The present specification also provides another vehicle driving trajectory planning method. The execution subject of the method can be an application end with a vehicle navigation function, or an application program loaded on the application end.

[0132] Based on the same idea, the present specification also provides a device corresponding to the above method.

[0133] Figure 7 A structure diagram of a vehicle driving trajectory planning device corresponding to Figure 1 provided by the embodiments of the present specification. As shown in Figure 7 The device 700 can include:

[0134] at least one processor 710; and

[0135] a memory 730 connected with the at least one processor in communication; wherein

[0136] the memory 730 stores instructions 720 executable by the at least one processor 710, the instructions executed by the at least one processor 710 to enable the at least one processor 710 to:

[0137] obtain navigation path information and vehicle position information of a target vehicle;

[0138] determine a driving reference line of a preset length of the target vehicle according to the navigation path information; the driving reference line is used to guide the target vehicle to travel along a path indicated by the navigation path information from a position corresponding to the vehicle position information;

[0139] determine whether the driving reference line meets a preset triggering condition of a preset driving scenario to obtain a first determination result; the preset triggering condition is determined according to a target map element that has an influence on trajectory planning of the target vehicle in the preset driving scenario;

[0140] if the first determination result indicates that the driving reference line meets the preset triggering condition of the preset driving scenario, use a trajectory planning algorithm corresponding to the preset driving scenario to perform trajectory planning processing on the target vehicle.

[0141] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the device shown in the embodiments, since it is basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiments. Figure 7 The device shown in the embodiments is basically similar to the method embodiments, and the description is relatively simple. The relevant parts can be referred to the part of the method embodiments.

[0142] In the 1990s, it was relatively easy to distinguish whether an improvement in a technology was a hardware improvement (e.g., an improvement in the circuit structure of a diode, transistor, switch, etc.) or a software improvement (an improvement in a method flow). However, as technology has evolved, many improvements in method flows today can be considered as direct improvements in hardware circuit structures. Designers almost always obtain the corresponding hardware circuit structures by programming the improved method flows into hardware circuits. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using hardware entity modules. For example, a programmable logic device (PLD) (e.g., a field programmable gate array (FPGA)) is an integrated circuit whose logic function is determined by user programming of the device. A designer programs a digital system "integrated" on a PLD by himself, without having to ask a chip manufacturer to design and manufacture a special integrated circuit chip. Moreover, instead of manually manufacturing integrated circuit chips, this programming is now mostly implemented using "logic compiler" software, which is similar to the software compiler used when developing programs, and the original code before compilation must also be written in a specific programming language, which is called a hardware description language (HDL), and there are many types of HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., and the most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also be aware that it is easy to obtain a hardware circuit that implements a logical method flow by simply logically programming the method flow in the above-mentioned hardware description languages and programming it into an integrated circuit.

[0143] The controller can be implemented in any suitable way, e.g. the controller can take the form of a microprocessor or processor and a computer readable medium storing computer readable program code, e.g. software or firmware, executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller and an embedded microcontroller, examples of controllers include but are not limited to the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to being implemented in pure computer readable program code form, the controller can perfectly well be implemented to perform the same functions using logic gates, switches, an application specific integrated circuit, a programmable logic controller and an embedded microcontroller, etc. by means of a logical programming of the method steps. The controller can thus be considered a hardware component, and the means comprised therein for performing the various functions can be considered structures within the hardware component. Alternatively, the means for performing the various functions can even be considered both a software module implementing the method and a structure within a hardware component.

[0144] The systems, apparatuses, modules or units illustrated by the above embodiments can be implemented by computer chips or entities, or products with certain functions. A typical implementation device is a computer. Specifically, the computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0145] For the sake of description, the above apparatuses are described in various units by functions respectively. Of course, the functions of the units can be implemented in one or more software and / or hardware in the implementation of the present application.

[0146] Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, a system, or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code thereon for use by or in connection with an instruction execution system.

[0147] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0148] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0149] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0150] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0151] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, non-volatile memory, such as read-only memory (ROM), EPROM, and / or flash memory. The memory is an example of computer-readable media.

[0152] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0153] It should also be noted that the terms "comprising", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a list of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0154] Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, system or computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0155] The present application can be described in the general context of computer-executable instructions, such as program modules, executed by computers. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The present application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in both local and remote computer storage media including storage devices.

[0156] The above merely provides an example of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the scope of claims of the present application.

Claims

1. A method for planning vehicle driving trajectory, characterized in that, include: Obtain the navigation path information and vehicle location information of the target vehicle; Based on the navigation path information, a driving reference line of a preset length for the target vehicle is determined; The driving reference line is used to guide the target vehicle to travel from the location corresponding to the vehicle location information along the path indicated by the navigation path information; Determine whether the driving reference line meets the preset triggering conditions of the preset driving scenario to obtain a first determination result; the preset triggering conditions are determined based on the target map elements in the preset driving scenario that affect the trajectory planning of the target vehicle; specifically, if there is traffic flow that intersects or crosses the driving reference line at a certain map element, then the map element is a map element that affects the trajectory planning of the target vehicle, and the map element is used as the target map element. If the first judgment result indicates that the driving reference line meets the preset triggering conditions of the preset driving scenario, then the trajectory planning algorithm corresponding to the preset driving scenario is used to perform trajectory planning processing on the target vehicle. The step of determining whether the driving reference line meets the preset triggering conditions of a preset driving scenario to obtain a first determination result specifically includes: Determine whether the target vehicle and the target map element in the driving reference line meet the preset position triggering conditions to obtain a second determination result; The preset location triggering conditions include: the current distance between the target vehicle and the target map element is less than or equal to a first preset distance. The first preset distance is determined based on the influence of the target map element on the target vehicle. Different distances are set in different driving scenarios and are adjusted according to the speed of the target vehicle and the speed limit of the road.

2. The method as described in claim 1, characterized in that, The preset driving scenarios include lane-changing scenarios; The target map elements include the available lanes within the driving reference line, excluding the lane where the target vehicle is located, when the target vehicle is at the position corresponding to the vehicle location information; The step of determining whether the target vehicle and the target map element in the driving reference line meet the preset location triggering conditions to obtain a second determination result specifically includes: Determine whether the current distance between the target vehicle and the available lane is less than or equal to a second preset distance to obtain a third determination result; If the first judgment result indicates that the driving reference line meets the preset triggering conditions of a preset driving scenario, then the trajectory planning algorithm corresponding to the preset driving scenario is used to perform trajectory planning processing on the target vehicle, specifically including: If the third judgment result indicates that the current distance between the target vehicle and the available lane is less than or equal to the second preset distance, then the trajectory planning algorithm corresponding to the lane change scenario is used to perform trajectory planning processing on the target vehicle.

3. The method as described in claim 1, characterized in that, The preset driving scenarios include pedestrian avoidance scenarios; the target map elements include pedestrian crossings. The step of determining whether the target vehicle and the target map element in the driving reference line meet the preset location triggering conditions to obtain a second determination result specifically includes: Determine whether the current distance between the target vehicle and the pedestrian crossing is less than or equal to a third preset distance to obtain a fourth determination result; If the first judgment result indicates that the driving reference line meets the preset triggering conditions of a preset driving scenario, then the trajectory planning algorithm corresponding to the preset driving scenario is used to perform trajectory planning processing on the target vehicle, specifically including: If the fourth judgment result indicates that the current distance between the target vehicle and the pedestrian crossing is less than or equal to the third preset distance, then the trajectory planning algorithm corresponding to the pedestrian avoidance scenario is used to perform trajectory planning processing on the target vehicle.

4. The method as described in claim 1, characterized in that, The preset driving scenarios include scenarios involving avoiding vehicles traveling in the same direction; the target map elements include lane merging locations; The step of determining whether the target vehicle and the target map element in the driving reference line meet the preset location triggering conditions to obtain a second determination result specifically includes: Determine whether the current distance between the target vehicle and the lane merging position is less than or equal to a fourth preset distance to obtain a fifth determination result; If the first judgment result indicates that the driving reference line meets the preset triggering conditions of a preset driving scenario, then the trajectory planning algorithm corresponding to the preset driving scenario is used to perform trajectory planning processing on the target vehicle, specifically including: If the fifth judgment result indicates that the current distance between the target vehicle and the lane merging position is less than or equal to the fourth preset distance, then the trajectory planning algorithm corresponding to the scenario of avoiding vehicles traveling in the same direction is used to perform trajectory planning processing on the target vehicle.

5. The method as described in claim 1, characterized in that, The preset driving scenarios include scenarios involving avoiding oncoming vehicles; the target map elements include lane intersections. The step of determining whether the target vehicle and the target map element in the driving reference line meet the preset location triggering conditions to obtain a second determination result specifically includes: Determine whether the current distance between the target vehicle and the lane intersection is less than or equal to a fifth preset distance to obtain a sixth determination result; If the first judgment result indicates that the driving reference line meets the preset triggering conditions of a preset driving scenario, then the trajectory planning algorithm corresponding to the preset driving scenario is used to perform trajectory planning processing on the target vehicle, specifically including: If the sixth judgment result indicates that the current distance between the target vehicle and the lane intersection is less than or equal to the fifth preset distance, then the trajectory planning algorithm corresponding to the scenario of avoiding oncoming vehicles is used to perform trajectory planning processing on the target vehicle.

6. The method as described in claim 1, characterized in that, The preset driving scenarios include traffic light crossing scenarios; the target map elements include lanes controlled by traffic lights within intersections; The step of determining whether the target vehicle and the target map element in the driving reference line meet the preset location triggering conditions to obtain a second determination result specifically includes: Determine whether the current distance between the target vehicle and the lane controlled by traffic lights at the intersection is less than or equal to the sixth preset distance, and obtain the seventh determination result; If the first judgment result indicates that the driving reference line meets the preset triggering conditions of a preset driving scenario, then the trajectory planning algorithm corresponding to the preset driving scenario is used to perform trajectory planning processing on the target vehicle, specifically including: If the seventh judgment result indicates that the current distance between the target vehicle and the lane controlled by the traffic lights at the intersection is less than or equal to the sixth preset distance, then the trajectory planning algorithm corresponding to the traffic light passage scenario is used to perform trajectory planning processing on the target vehicle.

7. The method as described in claim 1, characterized in that, The preset driving scenario includes a vehicle U-turn scenario; the target map element includes a U-turn lane; The step of determining whether the target vehicle and the target map element in the driving reference line meet the preset location triggering conditions to obtain a second determination result specifically includes: Determine whether the current distance between the target vehicle and the U-turn lane is less than or equal to a seventh preset distance to obtain an eighth determination result; If the first judgment result indicates that the driving reference line meets the preset triggering conditions of a preset driving scenario, then the trajectory planning algorithm corresponding to the preset driving scenario is used to perform trajectory planning processing on the target vehicle, specifically including: If the eighth judgment result indicates that the current distance between the target vehicle and the U-turn lane is less than or equal to the seventh preset distance, then the trajectory planning algorithm corresponding to the vehicle U-turn scenario is used to perform trajectory planning processing on the target vehicle.

8. The method as described in claim 1, characterized in that, There are multiple preset driving scenarios; The step of determining whether the driving reference line meets the preset triggering conditions of a preset driving scenario to obtain a first determination result specifically includes: Determine whether the driving reference line meets the preset trigger conditions of each preset driving scenario, and obtain the first determination result corresponding to each preset driving scenario; If the first judgment result indicates that the driving reference line meets the preset triggering conditions of a preset driving scenario, then the trajectory planning algorithm corresponding to the preset driving scenario is used to perform trajectory planning processing on the target vehicle, specifically including: Based on the first judgment result corresponding to each preset driving scenario, a target driving scenario set is determined; the target driving scenario set includes the preset driving scenario corresponding to the first judgment result indicating that the preset triggering condition is met. The target vehicle is processed using a trajectory planning algorithm corresponding to a preset driving scenario in the target driving scenario set.

9. A vehicle trajectory planning device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: Obtain the navigation path information and vehicle location information of the target vehicle; Based on the navigation path information, a driving reference line of preset length for the target vehicle is determined; the driving reference line is used to guide the target vehicle to travel from the position corresponding to the vehicle position information along the path indicated by the navigation path information. Determine whether the driving reference line meets the preset triggering conditions of the preset driving scenario to obtain a first determination result; the preset triggering conditions are determined based on the target map elements in the preset driving scenario that affect the trajectory planning of the target vehicle; specifically, if there is traffic flow that intersects or crosses the driving reference line at a certain map element, then the map element is a map element that affects the trajectory planning of the target vehicle, and the map element is used as the target map element. If the first judgment result indicates that the driving reference line meets the preset triggering conditions of the preset driving scenario, then the trajectory planning algorithm corresponding to the preset driving scenario is used to perform trajectory planning processing on the target vehicle. The step of determining whether the driving reference line meets the preset triggering conditions of a preset driving scenario to obtain a first determination result specifically includes: Determine whether the target vehicle and the target map element in the driving reference line meet the preset position triggering conditions to obtain a second determination result; The preset location triggering conditions include: the current distance between the target vehicle and the target map element is less than or equal to a first preset distance. The first preset distance is determined based on the influence of the target map element on the target vehicle. Different distances are set in different driving scenarios and are adjusted according to the speed of the target vehicle and the speed limit of the road.

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