Trajectory planning method and apparatus, device and storage medium

Abstract

The present disclosure provides a trajectory planning method and apparatus, a device, and a storage medium. The trajectory planning method includes the following steps: acquiring a reference trajectory of a predetermined planning interval on the basis of vehicle information, environment information and end point information; establishing a vehicle kinematic model in a road coordinate system on the basis of the vehicle information and the reference trajectory; using a model predictive controller to determine a sequence of control quantities in a predetermined planning interval according to the reference trajectory, the vehicle information and the vehicle kinematic model; obtaining a final trajectory on the basis of the sequence of control quantities. The present disclosure takes vehicle kinematic characteristics into account, and has low requirements for computing resources and a fast computing speed.

Dependencies are inferred from the claim text.