Local trajectory planning method and apparatus for smart vehicles

A local trajectory planning apparatus for use in a smart vehicle, the apparatus comprising:

• at least one processor;
• and
• a memory storing instructions, which when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:
• determining a target lane;
• sampling alternative curves from a current location of the smart vehicle to a target lane according to the path planning information;
• performing speed planning for the sampled alternative curves according to a current travel environment;
• selecting one of the alternative curves after the speed planning is performed as a target trajectory,
• wherein a starting point direction of the alternative curves accords with the current travel direction of the smart vehicle, and a starting point curvature of the alternative curves is determined by a current steering wheel turn angle and an axle distance of the smart vehicle.

A computer storage medium, wherein the computer storage medium is coded with a computer program, and when the program is executed by one or more computers, the one or more computers perform the following operations:

• determining a target lane;
• sampling alternative curves from a current location of the smart vehicle to a target lane according to the path planning information;
• performing speed planning for the sampled alternative curves according to a current travel environment;
• selecting one of the alternative curves after the speed planning is performed as a target trajectory,
• wherein a starting point direction of the alternative curves accords with the current travel direction of the smart vehicle, and a starting point curvature of the alternative curves is determined by a current steering wheel turn angle and an axle distance of the smart vehicle.