1948 results about "Tree structure" patented technology

The invention discloses an intelligent document analysis method and system, the method is executed by the intelligent document analysis system, and the method comprises the following steps: carrying out layout analysis on a PDF page by adopting a deep learning model; merging the block list from bottom to top by adopting a recursive algorithm; carrying out balance optimization on the binary tree structure; and outputting a result of the processed binary tree structure by adopting a preorder traversal mode. Layout analysis is carried out by adopting a deep learning model, various complex typesetting formats such as multi-column layout, image-text mixed typesetting, tables, lists and the like can be effectively identified and processed, and semantically continuous text blocks are ensured to keep continuity in a tree structure through a tree structure optimization module; a global semantic error correction module is added to carry out global document semantic representation learning and carry out adaptive adjustment and error correction on a preliminary structure, so that deep ambiguity is eliminated, logic errors are repaired, and the consistency of a final analysis result and human reading logic on the semantic level is maximized.

The invention provides an electronic data evidence storage verification method and system based on hierarchical hash and an intelligent contract, and relates to the technical field of block chains and data security, and the method comprises the steps: obtaining to-be-stored electronic data; to-be-stored electronic data is divided into data blocks according to a preset rule, a unique identifier and a timestamp are added to each data block, and a standardized data unit is generated; performing hierarchical hash calculation on the standardized data unit, generating a leaf node hash value by each data block, aggregating the leaf node hash values layer by layer according to a Merkle tree structure, and generating root hash; calling a block chain smart contract, submitting the tree structure hash, the timestamp and the public key encrypted signature to a block chain network, after verification of a consensus node, writing the evidence information into the block chain, analyzing a hash path submitted by a user by the smart contract to perform data verification, if the hash path is consistent with the data verification, returning verification success, otherwise, triggering an exception handling contract; through the dynamic partitioning algorithm and the layered hash structure, the calculation overhead of large file processing is reduced.

The invention discloses a time sequence knowledge graph reasoning method based on a large language model, which comprises the following steps of: performing vectorization expression on query entities and relationships by utilizing an embedded model, and generating vectors containing structural features and semantic information in combination with adjacent entities, relationships and time information; a candidate entity set most relevant to query is screened out from the large-scale entity set by calculating the conditional probability; constructing an event evolution tree, and performing multi-hop sampling on adjacent nodes of a query entity and a candidate entity in a time window to generate a tree structure capable of completely reflecting a historical event evolution path; the method comprises the following steps: designing a structured prompt template, and performing instruction fine tuning on a pre-trained large language model by adopting an LoRA (Low Rank fine tuning technology), so that the model better follows a task instruction to generate a reasoning result. And efficient and accurate time sequence knowledge graph reasoning is realized.

The invention discloses a 3DTiles data storage method and a map data query method.The 3DTiles data storage method comprises the following steps that (1) an LOD hierarchy pyramid type hierarchy table is established, and an LOD range index is created; 2) generating a three-dimensional object into an agent point, and segmenting a tile according to a KD-tree structure to construct a three-dimensional KD-tree index tree; and 3) storing the data of the KD-tree leaf node into a GridFS of MongoDB multi-mode storage, mapping a file path into a unique hash value, writing the unique hash value into a corresponding node according to a KD-tree node storage structure, and creating a geographic spatial index. The method creatively solves the problems that file system management is difficult due to the fact that the number of files is large, a hierarchical structure based on a file directory is difficult to support efficient spatial range retrieval, and the spatial query response time is reduced to the millisecond level in combination with a three-dimensional KD-tree index and a MongoDB geographic spatial index.

The invention discloses an integrated verification and test system and method for complex rules of a substation monitoring system, and the system comprises a rule editing module which provides a visual interface to support a user to edit the complex rules containing various types of variables and time sequence constraints; the analysis and verification module is used for performing grammar, variable conflict and business compliance multi-level verification on the rules; the intelligent test case generation module is used for automatically generating test cases covering normal, boundary and abnormal conditions based on the rule tree structure; the simulation test interface module converts the use case into a standard test script, submits the standard test script to a simulation tool for execution, and outputs the standard test script to a monitoring system through protocol conversion; the result analysis module is used for comparing an execution result with an expected result and generating a structured test report; according to the invention, full-process automation of rule verification and testing is realized, the verification efficiency is remarkably improved, and the test requirements of various transformer substation business scenes are met.

The invention relates to the technical field of machine learning, and discloses a decision tree data model establishment method, which comprises the following steps of: acquiring heterogeneous data sources such as a structured data table, a time sequence data stream and graph structure data through distributed nodes, sampling the time sequence data stream by using a dynamic sliding window, and vectorizing the graph structure data through a graph embedding algorithm; a multi-stage feature selection model is constructed to screen features, and a dynamic decision tree generation framework adopting an adaptive splitting criterion is established based on the features. A tree structure is adjusted by applying a multi-objective optimization algorithm, and the performance is improved by introducing an incremental pruning mechanism. And the online model updating module monitors data distribution change, reconstructs a local sub-tree in good time, and injects noise to protect data privacy in combination with a differential privacy protection mechanism. According to the method, heterogeneous data is effectively processed, the model classification precision is improved, the complexity is reduced, the generalization ability is enhanced, the model can be updated online, and the data privacy is protected. The electronic equipment calls related instructions to execute the method, and efficient data processing and analysis can be achieved.

The invention discloses an intelligent crawler generation method and system based on a large language model and an MCP protocol, belongs to the technical field of network data collection, and solves the problem that the capability of LLM in dynamic webpage analysis and anti-crawling strategy generation links cannot be fully exerted due to the fact that LLM and browser interaction protocols cannot be effectively integrated in the prior art. The method comprises the steps of analyzing an acquisition demand based on a large language model and generating a standardized demand description document, realizing interaction between the large language model and a browser based on an MCP protocol, analyzing a page complete DOM tree structure through a crawler script generation system, and performing quality verification and intelligent repair on a generated crawler script. According to the method, the complete DOM tree and the dynamic data rendered by the browser are obtained through the MCP, and the large language model can be called to automatically analyze the element positioning strategy, so that the collection script is adaptively generated, and high efficiency, intelligence and automation of webpage data collection are ensured.

The invention discloses an intelligent element positioning method and system based on AI and a dynamic feature library, and the method comprises the steps: carrying out the anomaly detection and abnormal data capture, executing an element positioning operation through an automatic script, and recording a page DOM tree structured snapshot when the positioning is judged to be failed; multi-modal feature extraction: analyzing the DOM tree, and extracting an XPath / CSS path and semantic attributes of a target element; performing dynamic feature library retrieval and matching, calculating DOM structure similarity, and taking a high-similarity rule as a correction basis if the high-similarity rule exists; an AI intelligent rule is generated, and candidate positioning rules are generated through the classification model; performing script correction and real-time feedback, replacing the failure positioning statement and updating the dynamic feature library; and generating a structured report, and recording abnormal data. According to the method, the AI is combined with the dynamic feature library, so that the intelligent correction of element positioning in the automatic test process is realized, and the stability and efficiency of the automatic test are improved.

The embodiment of the invention provides a dynamic page rendering method and system based on a front-end framework, electronic equipment and a storage medium, and belongs to the technical field of page rendering. According to the scheme, rule expansion processing is conducted on JSON structure specifications, a metadata structure model is obtained, and the metadata structure model is used for defining page rendering rules; obtaining JSON configuration data, and performing data preprocessing on the JSON configuration data based on the metadata structure model to obtain structure data; dynamic structure analysis is conducted on the structure data through an analysis engine, a virtual document object model tree structure is obtained, and the analysis engine adopts a layered architecture; and performing difference rendering according to the virtual document object model tree structure to obtain a target page. According to the method, seamless connection between a low-code platform and professional development can be realized, the development efficiency is improved, and the page rendering dynamic capability is enhanced.

The invention discloses a structured remote sensing report generation system, method and device based on a syntax tree and a medium, the system comprises a user input layer, a core processing layer and an output and verification layer, the system receives user demand parameters and input data, automatically analyzes the demand parameters and standardizes the input data; generating a syntax tree structure conforming to industry specifications, and driving the large model to obtain a first draft of a report under the constraint of the syntax tree; and performing automatic verification and manual intervention correction on the first draft of the report to form a professional remote sensing report. According to the method, the multi-dimensional syntax tree architecture is constructed, and the hierarchical syntax analysis algorithm and the domain knowledge graph are combined, so that semantic association of the multi-modal remote sensing data and accurate mapping of terminologies are realized, automatic generation of a long document report meeting remote sensing geographic industry specifications is supported, the structured degree and logic continuity of text generation are improved, and the text generation efficiency is improved. The method can be widely applied to the fields of geological monitoring analysis, environment evaluation report generation and the like.

In one implementation, point cloud data for a point cloud is decoded. The decoder obtains features representing voxels in a tree structure, where feature for a current voxel is representative of at least a set of voxels that are still to be reconstructed. The decoder then determines an occupancy probability of the current voxel based on the feature, and decodes occupancy information of voxels in the tree structure, where whether a current voxel is occupied or not is decoded based on the occupancy probability for the current voxel. The point cloud can be reconstructed based on the occupancy information. On the encoder side, the feature for the current voxel is obtained from the voxels that are still to be encoded and encoded into a bitstream.

According to the long-tail human movement prediction method based on adaptive hierarchical learning, coarse-grained semantic grouping is introduced through a hierarchical tree structure based on the Maslow human motivation theory, and the optimization process is rebalanced in a framework-independent mode. Firstly, thinking chain cues are designed based on the Maslow human motivation theory, a hierarchical structure for city customization is constructed by applying a large language model, and knowledge in human mobile data is fully developed through hierarchical learning. Secondly, exploring hierarchical position prediction through Gumbel interference and adaptive weight, so as to fully capture complex space-time semantics; wherein Gumbel interference is used for rebalancing learning of head and tail positions, adaptive weight performs node-level adjustment on head categories and tail categories in each layer, and these components effectively promote exploration of mobility knowledge. The invention further comprises a method adaptive to the advanced mobile prediction algorithm, and the effectiveness and applicability of other methods in long-tail mobile data are improved by embedding the adaptive hierarchical learning loss into other mobile prediction methods.

The invention relates to a signal equipment fault diagnosis rule automatic generation method, system and equipment, and the method comprises the steps: a demand cleaning processing process: carrying out the semantic analysis of an original fault diagnosis demand of signal equipment, and generating a structured output containing a demand pseudo code and a dependency graph based on a recognition result of the demand; the demand searching process is used for constructing a demand vector and a knowledge graph; performing similarity search on the vectorized query demand to obtain similar demand nodes for a user to select a root demand, and performing deep search in the knowledge graph based on the root demand to generate a fault tree structure and fault tree data; and an intelligent rule automatic generation process: generating prompt words based on the fault tree data construction rule, and generating a signal equipment fault diagnosis rule code by using a large language model. Compared with the prior art, the method has the advantages that the signal equipment fault diagnosis rule is automatically generated, and the development efficiency is improved.

The invention discloses an RPA code generation method based on an HTML and an image, and the method comprises the following steps: S1, receiving multi-modal input data provided by a user, the multi-modal input data comprising an HTML structure file of a target business system, an interface screenshot image and a natural language operation demand description; s2, performing standardized analysis on the HTML structure file, extracting DOM tree structure information, and performing visual feature enhancement processing on the interface screenshot image; and S3, inputting the processed HTML structure information, the interface screenshot image and the natural language operation requirement into a pre-trained visual language model, and outputting a target XPath path and a Python code sequence through the visual language model. According to the method, comprehensive understanding of a complex service system is realized by combining HTML structure information and an interface image, so that efficient and accurate RPA script codes capable of being executed on multiple platforms are automatically generated.

The invention particularly relates to a robot outdoor large-scale scene autonomous navigation method based on an open digital map, which comprises the following steps: extracting a road network structure, constructing a road network topological graph, and modeling a road network space by using an R tree; associating a starting point with a target point according to the road network topological graph of the R-tree structure, and performing global path planning based on a Dijkstra algorithm to obtain path points from the starting point to the target point; acquiring laser radar sensor point clouds, and generating a local voxel map by using the point clouds after the ground points are filtered out; performing local target point mapping by combining the global path line segment and a local voxel map to generate a local target point; performing local front-end path search based on a JPS algorithm to obtain a local front-end path from the current position of the robot to a local target point; a safety corridor is constructed according to the local front-end path, and trajectory optimization is carried out; and tracking the optimized trajectory, and planning the speed by considering the nonlinear model of the robot and the actual motion state. The method provided by the invention can realize outdoor large-range long-distance autonomous navigation.

The invention discloses a code vulnerability detection method based on multi-dimensional feature fusion and edge semantic enhancement, and the method comprises the steps: carrying out AST sub-tree structure compression based on a sub-tree folding rule on the basis of retaining an AST high-level grammar framework, fusing a PDG data flow and control flow dependency relationship, and constructing a lightweight program semantic graph; extracting node multi-dimensional features from the program semantic graph, extracting program-level global features in combination with an edge semantic enhancement mechanism, and performing vectorization representation; and inputting the program semantic graph features into a full connection layer, identifying potential vulnerabilities and outputting a detection result. According to the scheme, a context modeling mechanism based on a scope path is introduced, a semantic subtree, a grammar structure and scope information are combined, multi-dimensional features are extracted, multi-dimensional information fusion is realized through a dynamic attention mechanism, local and global feature splitting is prevented, and the edge semantic enhancement module is constructed to realize multi-dimensional information fusion. And the distinguishing capability and the feature expression capability of the model on heterogeneous edges are improved.

The invention discloses a power distribution network power scheduling optimization method and system, which are used for solving the technical problem of poor calculation efficiency of a power distribution network power scheduling optimization scheme caused by great calculation complexity of joint solution in a traditional power distribution network power scheduling optimization method. The method comprises the following steps: constructing an initial classification tree model according to an obtained optimal topology scheme in a plurality of power distribution network operation scenes and network operation states in the plurality of power distribution network operation scenes; performing global optimization on a tree structure of the initial classification tree model by using a mixed integer programming method based on a preset feature selection and division mechanism to generate an optimal classification tree model; and when a current power distribution network operation state of the power distribution network is received, based on a mathematical programming method, solving an optimization problem corresponding to the power distribution network by adopting the optimal classification tree model according to the current power distribution network operation state, and generating a target power distribution network power scheduling scheme.

A hardware sampling device (200) and related method for generating observations of arbitrary random variables from probabilistic bits are disclosed. The sampling device comprises a programming unit (250) for adjusting the mean value of probabilistic bits generated by each one of a plurality of probabilistic bit generators (271a-h), a binary selection tree structure (210) comprising a plurality of nodes, and a detection logic circuit (240) for detecting a tie condition for each depth stage of the binary selection tree (210). Each node comprises a selector circuit (213) connected between a pair of input terminals (211a-b) and an output terminal (212). The and configured to randomly admit one of the two input signals to the output terminal if a tie condition is detected, or else admit the input signal which represents a logical '1'. The position index bit related to the admitted input signal is supplied to the output terminal of the node and concatenated with a sequence of previously transmitted position index bits.

In various examples, policy prediction-based motion planner systems and methods for autonomous and semi-autonomous systems and applications are provided. A scenario tree structure may be generated that represents potential behaviors of one or more peripheral agents based on perception data of a scene within which an ego vehicle operates. A joint MPC algorithm may optimize the motion of an ego vehicle within the context of the scenario tree structure to produce a policy tree structure. An MPC policy prediction model may be trained to predict the policy tree structures that a joint MPC algorithm would produce, given a set of environmental perception data. An ego vehicle may comprise a trained MPC policy prediction model that receives perception data, and based on that input predicts a policy tree structure that may be used to define a motion policy for navigating the ego vehicle through the scene.

The invention discloses a tree control rendering method, which comprises the following steps that a data list is acquired, and each piece of data in the data list comprises a hierarchy field and a node field; rendering and generating tree structure data according to the hierarchical field and the node field of each piece of data; rendering and generating a first tree control based on the first N-level nodes of the tree structure data, and displaying the first tree control; and in response to a received instruction for expanding the first tree control, loading data corresponding to a to-be-expanded node and re-rendering the first tree control to obtain a target tree control. The invention further discloses a system, computer equipment and a readable storage medium. According to the scheme provided by the invention, the data with the hierarchical structure can be effectively processed and displayed, tree-shaped hierarchical loading is reduced through a gradual loading and rendering mode, the user requirements are met, and the product performance and the user experience degree are greatly improved.

The invention discloses a question answering method based on structured document retrieval enhancement, and belongs to the technical field of artificial intelligence. The method comprises the following steps: performing structured information analysis and blocking processing on a structured document to construct a tree structure reflecting a hierarchical relationship of the document; based on a cross-document association relationship, combining the tree structures corresponding to the plurality of structured documents to form a multi-document tree structure network; and when a question request is received, generating corresponding retrieval enhancement information through the tree structure network, and inputting the retrieval enhancement information into the question and answer model to obtain answer information matched with the question request. According to the method, the multi-document tree structure network which takes the tree hierarchical relationship of the structured document as a core and fuses cross-document topic clustering and reference mapping is constructed, so that efficient retrieval enhanced questions and answers oriented to the structured document are realized, and the accuracy, context consistency and traceability of answers are remarkably improved.

The invention belongs to the technical field of dialogue generation, and relates to a digital intelligent carrier pigeon WeChat intelligent dialogue generation method based on deep learning. Dialogue data are obtained, and semantic anomaly detection is carried out through a regular expression and a BERT model in combination with a public corpus; organizing dialogue data in a mode of constructing a tree structure and introducing a three-dimensional timestamp; for emotion information of emoticons, text and visual features of expressions are combined through a hybrid encoder, a dynamic attention mechanism is adopted, weighting and memory length adjustment are carried out according to importance of historical statements, after user portrait features are introduced, user features and dialogue codes are fused, and therefore, the emotion information of the expressions is obtained. In the generation stage, through a Transform-based model and a Beam Search algorithm, a diversity penalty term is introduced in the generation process, and generation parameters are dynamically adjusted according to a user portrait, so that the diversity and security of generated dialogues are ensured, the precision and coherence of a dialogue generation model are improved, and the technical problems of context coherence and personalized generation are effectively solved.

A medical code allocation method based on hierarchical association and diversity enhancement comprises the following steps: S1, data preprocessing and graph construction: based on a tree hierarchical classification architecture of ICD codes, adopting a hierarchical graph model to perform visual representation on the tree hierarchical classification architecture, and constructing a co-occurrence matrix of the clinical record text and the ICD codes for the clinical record text; s2, applying a Graph-BERT graph neural network structure to perform graph structure conversion on a tree structure of an ICD code system, and learning based on an encoder structure of a graph transformer to obtain embedded representation of ICD codes; s3, performing word segmentation processing on a clinical text, inputting the processed clinical text into a bioBERT model to obtain a feature vector of the clinical text, and unifying semantic features of clinical records, hierarchical features of ICD codes and related association information between the semantic features and the hierarchical features through a multi-modal fusion mode; s4, after the final feature vector of the clinical record text is obtained, correlation enhancement prediction is performed by using a CorNet network, so that a related probability matrix is generated, a binary cross entropy loss function is expanded, the binary cross entropy loss function, hierarchical diversity loss and semantic diversity loss jointly form a diversified loss function, and the diversified loss function and a classic model are subjected to comparative analysis, so that the final feature vector of the clinical record text is obtained. Therefore, the accuracy and effectiveness of the method are verified.

The invention provides a lithium ion battery health state estimation method and system based on a dual-drive interpretable integrated model, and belongs to the field of lithium ion battery health state estimation. The problems that an existing lithium battery health state monitoring method is single in feature source, insufficient in model generalization ability and poor in interpretability are solved. According to the method, based on an incremental capacity curve and a first-order RC equivalent circuit model, IC peak value features and ohmic internal resistance features are extracted, and a multi-source health feature space is constructed in combination with voltage statistical features; an integrated learning model based on Stacking is established, three basic models of a random forest, kernel ridge regression and an interpretable enhancement machine are integrated, and collaborative optimization of model hyper-parameters is realized by adopting a tree structure-based Bayesian optimization algorithm.

The invention discloses a service starting sequence optimization method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a multi-mode data set of at least one service in a substrate management controller, creating a target function, taking each service in the at least one service as a node to construct a target tree structure, and obtaining a target tree structure; the optimization objective of the objective function is to minimize the total start time of at least one service; and based on the target function and the target tree structure, determining a target node corresponding to the optimal evaluation index in each layer of structure, and finally starting the service corresponding to each target node in sequence according to the hierarchical relationship between the determined target nodes. By means of the method, the technical problem that in the related technology, flexibility is poor when all services in the baseboard management controller are started in a predefined static sequence is solved, and the technical effect of optimizing the service starting sequence through the self-adaptive dynamically-changed operation environment is achieved.

The invention discloses a diagnostic information-driven multi-modal medical record similarity retrieval system, which comprises a data acquisition module, a data processing module and a similarity retrieval module, the feature extraction module is used for performing feature extraction on the electronic medical record data; the multi-modal semantic generation module is used for generating multi-modal semantic representation; the diagnosis code processing module is used for constructing a tree structure based on diagnosis codes in medical records, performing low-dimensional representation learning on the diagnosis codes by utilizing a Poincare embedding method, and realizing similarity measurement among diagnosis sets in combination with self-supervised contrast learning; the migration module is used for migrating the similarity knowledge of the diagnosis set to the learning process of the multi-modal semantic representation, and optimizing the multi-modal semantic representation to form medical record similarity representation driven by diagnosis information; and the retrieval module is used for performing similarity matching among the medical records in the shared semantic space and completing a retrieval task of the multi-modal medical records. According to the method, the problems of multi-mode isomerism and annotation data scarcity of the electronic medical record are effectively solved.

The invention discloses a commodity copywriting generation method based on a conditional variation automatic encoder and retrieval enhancement, which comprises the following steps: designing a reasoning module, a generation module, an evaluation module, a memory module and a prompt engineering module, aiming at user input content, based on a graph neural network, adopting path pruning and multi-hop reasoning, and generating a commodity copywriting in the reasoning module; pruning of a low-score path is achieved through path reasoning, the reasoning efficiency is improved, and an implicit relation is reasoned; the generation module introduces a layer-by-layer variational auto-encoder and enables the generated candidate commodity copywriting to meet specific condition requirements through conditional variables, the evaluation module performs comprehensive scoring on the candidate commodity copywriting, the memory module is constructed to store conversation between a user and the generation module, and the prompt engineering module performs iteration of a preset round based on a thinking tree structure. According to the method designed by the invention, the personalization and reality sense of the copywriting can be improved, and the generation of diversified advertisement copywriting with clear styles is realized.

The invention relates to the technical field of intelligent retrieval, in particular to an engineering knowledge base construction and deep retrieval method, which comprises the following steps of: in a knowledge base construction stage, performing knowledge level identification on an engineering knowledge document to form a multi-level tree structure taking chapter titles and corresponding contents as nodes; performing analysis processing on the heterogeneous content of each node to generate knowledge fragments; and generating embedded vectors of knowledge fragments by adopting a way of combining path embedding and content embedding, and storing association relationships among knowledge, vector data and original information to complete knowledge base construction. In the deep retrieval stage, after a user question is received, a knowledge blank question list is generated through query and rewriting, a knowledge base is retrieved through traversal of the list, the retrieval process is optimized through knowledge grouping, correlation sorting and loop termination judgment, and finally reply content subjected to traceable verification is generated and output based on existing knowledge accumulated in a circulation mode. According to the method, the reuse efficiency and the retrieval accuracy of the engineering knowledge can be improved.

The invention relates to a simulation method for a semiconductor device, electronic equipment and a computer readable storage medium. The method comprises the steps that a multi-way tree structure is constructed based on grid data of a gridded semiconductor device, the multi-way tree structure at least comprises a root node, a plurality of layers and a plurality of leaf nodes, and each leaf node represents a corresponding polyhedron in a plurality of polyhedrons in the gridded semiconductor device; in response to the determination of the first spatial position of the particle in the semiconductor device, determining a first search path from the root node to a first leaf node in the plurality of leaf nodes based on the corresponding relationship between each leaf node and the corresponding polyhedron; and in response to the particle moving from the first spatial position to a second spatial position within the semiconductor device, determining a second search path in the multi-way tree structure based on the first search path to determine a second leaf node representing the polyhedron where the second spatial position is located. According to the method, the ion implantation simulation performance is effectively improved.

The invention discloses an automatic driving model and method based on end-to-end joint optimization, and particularly relates to the field of visual automatic driving, and the method comprises the following steps: processing an input image and a point cloud, and constructing instance features; static and dynamic interaction scene representations based on sparse instances are constructed through query and attention mechanisms; constructing a parallel prediction-planning module based on the tree structure; extracting time sequence information of a historical track to construct a probability space; and modeling and predicting a time sequence dependency relationship of the trajectory through a gating loop unit, and screening an optimal future trajectory by using a confidence score. According to the method, the dynamic feasibility and safety of the planned trajectory can be improved, meanwhile, the calculation overhead is reduced, and an efficient and robust solution is provided for actual landing of the automatic driving technology.