公开(公告)号：US20240025412A1

公开(公告)日：2024-01-25

申请号：US18481467

申请日：2023-10-05

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Lei ZHANG ,  Yeqing ZHANG ,  Zhousu LI ,  Xia ZENG ,  Siyuan CHENG ,  Xinyu WANG

IPC: B60W30/18 ,  B60W30/09 ,  B60W30/095 ,  B60W40/02

CPC classification number: B60W30/18163 ,  B60W30/09 ,  B60W30/0956 ,  B60W40/02 ,  B60W2552/53 ,  B60W2554/40

Abstract: A trajectory planning method and a related device are provided, to plan a sub-lane-level trajectory, so that an autonomous vehicle drives along the sub-lane-level trajectory, and driving stability and safety of the autonomous vehicle are improved by using the sub-lane-level trajectory. Target information is obtained, where the target information includes at least one of a driving status of a target vehicle and first road condition information. A first planned trajectory of the target vehicle is determined based on the target information, where the first planned trajectory includes a target trajectory, the target trajectory is parallel to a center line of a lane, and the target trajectory is located in an area between the center line of the lane and a boundary of the lane, or on the boundary