| CPC G05D 1/0214 (2013.01) [B60W 60/0027 (2020.02); B60W 2520/10 (2013.01); B60W 2554/4042 (2020.02); B60W 2554/802 (2020.02); B60W 2554/804 (2020.02)] | 15 Claims |
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1. A method for trajectory planning, comprising:
determining a preliminary reference trajectory point of a target device and predicted trajectory points of designated obstacles at a target moment;
for each of the designated obstacles, determining a constraint boundary corresponding to the designated obstacle according to a velocity of the designated obstacle and a velocity of the target device, wherein the constraint boundary is configured to divide a space in which the target device and the designated obstacle are located into two disjoint parts, such that the designated obstacle is in one of the two disjoint parts and the target device is in another of the two disjoint parts;
determining a space comprising the target device and enclosed by constraint boundaries corresponding to at least some of the designated obstacles as a constraint set corresponding to the target moment; and
adjusting a preliminary reference trajectory of the target device under the constraint of the constraint set of the target moment, and determining the adjusted preliminary reference trajectory as a reference trajectory of the target device, wherein determining the constraint boundary corresponding to the designated obstacle according to the velocity of the designated obstacle and the velocity of the target device comprises:
determining a relative velocity between the designated obstacle and the target device based on the velocity of the designated obstacle and velocity of the target device;
determining whether a distance between the designated obstacle and the target device has a decreasing trend under an effect of the relative velocity between the designated obstacle and the target device;
in response to determining that the distance between the designated obstacle and the target device has a decreasing trend,
determining hyperplanes each with a normal vector perpendicular to a velocity direction of the designated obstacle as candidate hyperplanes corresponding to the designated obstacle; and
selecting a constraint boundary corresponding to the designated obstacle from the candidate hyperplanes corresponding to the designated obstacle; and
in response to determining that the distance between the designated obstacle and the target device has an increasing trend,
determining hyperplanes each with a normal vector perpendicular to the velocity direction of the target device as candidate hyperplanes corresponding to the designated obstacle; and
selecting a constraint boundary corresponding to the designated obstacle from the candidate hyperplanes corresponding to the designated obstacle controlling vehicle to the updated trajectory.
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