Automatic driving track planning method based on tree structure

The invention discloses an automatic driving track planning method based on a tree structure. The automatic driving track planning method comprises the following steps: accurately carrying out online modeling on a track planning problem; online solving of a trajectory planning problem is efficiently carried out; and executing the track on line, continuously monitoring the future trend of the social vehicle, and cutting the planned track on line when necessary. According to the automatic driving track planning method based on the tree structure, on the basis of statistical data in the long-term use process, the triggering frequency of an automatic driving track planning algorithm on a structured road can be reduced by 50%, and vehicle safety can still be guaranteed; according to the method, the decision planning stability of the automatic driving vehicle is improved, and the vehicle does not easily, sensitively and prematurely make meaningless response due to hesitant behaviors of external social vehicles. 本发明