Trajectory planning method, trajectory planning device, storage medium and electronic equipment

Abstract

The invention provides a trajectory planning method, a trajectory planning device, a storage medium and electronic equipment, and relates to the technical field of the intelligent navigation. The method comprises the following steps of acquiring a starting point and an end point in a map, determining a status parameter of the starting point, wherein the status parameter comprises the moment; establishing an open list to record the status parameter of each node, and adding the starting point in the open list; sequentially taking the node with the minimum value in the open list as a father node,and determining the status parameters of the sub-nodes of the father node according to the status variable in the preset time interval, adding the sub-nodes in the open list, and removing the fathernode from the open list; when adding the end point in the open list, beginning from the end point, sequentially connecting the sub-nodes and the father node thereof until connecting to the starting point, thereby obtaining a target path; and generating a target trajectory from the starting point to the end point according to the status parameter of each node in the target path. Through the methodprovided by the invention, the trajectory planning in a dynamic scene can be realized, and the kinematics characteristics of vehicle and like objects are met.

Description

technical field [0001] The present disclosure relates to the technical field of intelligent navigation, and in particular to a trajectory planning method, a trajectory planning device, a computer-readable storage medium and electronic equipment. Background technique [0002] Motion Planning is to determine a constraint-compliant path between a given starting point and end point, and is widely used in vehicle navigation, automatic driving, unmanned aerial vehicle, robot control and other fields. [0003] At present, most motion planning stays at the stage of path planning, such as the A-star (A*) algorithm or hybrid A-star (Hybrid A*) algorithm commonly used in the industry, for complex unstructured static scenes, planning between the start point and the end point Draw a path of a geometric curve. However, path planning is mostly aimed at static scenes. When applied to dynamic scenes, there are the following problems: dynamic collision avoidance cannot be effectively realize...

AI Technical Summary

Problems solved by technology

[0006] The present disclosure provides a trajectory planning method, a trajectory planning device, a computer-readable storage medium, and an electronic device, thereby overcoming the problem that existing path planning methods are difficult to apply to dynamic scenes at least to a certain extent

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