Local trajectory planning method and apparatus for smart vehicles
AssigneeBaidu Online Network Technology (Beijing) Co., Ltd.
InventorsWenli YANG, Tianlei Zhang, Lintao Li
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Abstract
The present invention provides a local trajectory planning method and apparatus for a smart vehicle, pre-acquiring path planning information from a starting location to a destination; the method 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. Local trajectory planning of the smart vehicle is achieved through the present invention.
Claims29
A local trajectory planning method for a smart vehicle, wherein path planning information from a starting location to a destination is pre-acquired;
- the method 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.
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.
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.
Dependencies are inferred from the claim text.