Verfahren und Vorrichtung zur Vermeidungsplanung für ein Fahrzeugmeetingszenario, Medium und Vorrichtung

Details

Veröffentlichungs-Nr.

EP4810338

Anmeldetag

23. Dezember 2025

Veröffentlichung

23. September 2026

Rechtsraum

EP

Abstract

Provided are an avoidance planning method and apparatus for a vehicle meeting scenario, a medium and a device, and the method includes: acquiring a host-vehicle starting point, a host-vehicle ending point, an oncoming-vehicle starting point and an oncoming-vehicle ending point; generating a first avoidance curve taking the host-vehicle starting point as a starting point and taking the host-vehicle ending point as an ending point, and generating a second avoidance curve taking the oncoming-vehicle starting point as a starting point and taking the oncoming-vehicle ending point as an ending point; sampling the first avoidance curve and the second avoidance curve, constituting an initial rough trajectory pair set based on sampling points on the first avoidance curve and sampling points on the second avoidance curve, and screening out a target rough trajectory pair set from the initial rough trajectory pair set, rough trajectory pairs included in the target rough trajectory pair set at least causing no vehicle collision risk; and establishing a host-vehicle fine trajectory planning model based on a kinematic constraint of a host-vehicle, a speed limit constraint of the host-vehicle, and a host-vehicle optimization objective, taking a host-vehicle rough trajectory as an initial solution of the model to perform iterative calculation, and taking an optimal solution of the model as a target planning trajectory of the host-vehicle.

Anmelder

Firma

Momenta (Suzhou) Technology Co., Ltd.

Land

🇨🇳 China