Trajectory planning method and device

• Main Authors: BAI YU, LIU SIWEI, REN DONGCHUN, LI XIAO, XU XIAOHAN
• Format: Patent
• Language: Chinese; English
• Published: 08.05.2020
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses a trajectory planning method and device. The method comprises the steps of: obtaining state information required by unmanned equipment trajectory planning; determining a plurality of to-be-determined driving decisions corresponding to the state information and the decision value of each to-be-determined driving decision through a father planning model; and selecting an undetermined driving decision corresponding to the maximum decision value as a driving decision corresponding to the state information, determining a planning action for realizing the driving decision through the sub-planning model corresponding to the selected driving decision, and planning the track of the unmanned equipment according to the planning action. The trajectory planning method provided by the invention is suitable for all scenes in the prior art, does not need to determine the type of the scene, solves a problem that the scene division is not accurate and reasonable in the prior art,and achieves a beneficia