一种车辆轨迹规划方法、装置、设备及介质

By pre-determining the vehicle's trajectory in scenarios where autonomous and manual driving vehicles coexist, the problems of conflict-free trajectory planning and computational pressure in existing technologies are solved, achieving efficient vehicle control and improving the operational efficiency of the transportation system and the driver experience.

CN116520839BActive Publication Date: 2026-07-17TSINGHUA UNIVERSITY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
TSINGHUA UNIVERSITY
Filing Date
2023-04-28
Publication Date
2026-07-17

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Abstract

本发明公开了一种车辆轨迹规划方法、装置、设备及介质。该方法包括：当待控制车辆进入目标路网后，获取待控制车辆的车辆行驶信息、以及相对目标路网预先确定的速度轨迹集合、冲突关系集合和当前占用轨迹集合，其中，目标路网为基于自动驾驶车辆和手动驾驶车辆的混行场景构成的路网；根据车辆行驶信息、速度轨迹集合、冲突关系集合及当前占用轨迹集合，确定待控制车辆的运动轨迹。通过预设的速度轨迹集合、冲突关系集合及当前占用轨迹集合规划出最佳路径方案及对应的控制命令集合。这种线下准备及线上选择的方式降低了实时计算的压力，保证了在车辆混行场景下所选取的轨迹是完全无冲突的，提高了交通系统的运行效率与司机的驾驶体验。
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