Avoidance planning method and apparatus for vehicle meeting scenario, medium and device

A non-transitory computer-readable storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, is configured to implement:

• acquire a host-vehicle starting point, a host-vehicle ending point, an oncoming-vehicle starting point and an oncoming-vehicle ending point, wherein the host-vehicle ending point and the oncoming-vehicle ending point are planned position points after two vehicles complete avoidance interaction;
• generate a first avoidance curve taking the host-vehicle starting point as a starting point and taking the host-vehicle ending point as an ending point, and generate a second avoidance curve taking the oncoming-vehicle starting point as a starting point and taking the oncoming-vehicle ending point as an ending point;
• respectively sample the first avoidance curve and the second avoidance curve, constitute an initial rough trajectory pair set based on sampling points on the first avoidance curve and sampling points on the second avoidance curve, and screen out a target rough trajectory pair set from the initial rough trajectory pair set, wherein rough trajectory pairs in the target rough trajectory pair set at least do not cause a vehicle collision risk;
• and
• establish a host-vehicle fine trajectory planning model based on a kinematic constraint of a host-vehicle, a speed limit constraint of the host-vehicle, and a host-vehicle optimization objective, take a host-vehicle rough trajectory in the target rough trajectory pair set as an initial solution of the host-vehicle fine trajectory planning model to perform iterative calculation, and take an optimal solution of the host-vehicle fine trajectory planning model as a target planning trajectory of the host-vehicle.