Trajectory planning method and device

• Main Authors: REN DONGCHUN, XIA HUAXIA, FAN MINGYU, FU SHENG, DING SHUGUANG
• Format: Patent
• Language: Chinese; English
• Published: 22.05.2020
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses a trajectory planning method and device. An unmanned device can obtain a planned path, the environment information and the historical track of each obstacle, the reference track of the unmanned device can be determined according to the planned path and the environment information, and the estimated track of the obstacle can be determined according to the reference track, the environment information and the historical track of the obstacle. According to the specification, the influence of the reference trajectory of the unmanned device on the obstacle operation is considered, and the accuracy of the estimated trajectory of the obstacle is improved. According to the estimated trajectory and the reference trajectory of each obstacle, the unmanned device can determine aglobal interaction feature, the global interaction feature represents the interaction between the unmanned device and each obstacle, and the final trajectory of the unmanned device is planned according to the environmental i