The invention relates to the technical field of automatic driving, and in particular relates to a driving track prediction method and device and an automatic driving vehicle. The method comprises the following steps: acquiring driving characteristic information of a target vehicle; the driving characteristic information comprising a position, a vehicle speed and a steering angle; the steering angle being a wheel steering angle or a steering wheel steering angle; and predicting the driving track of the target vehicle according to the driving characteristic information. According to the embodiment of the invention, the future driving track of the target vehicle is predicted by utilizing the steering angle (such as the wheel steering angle or the steering wheel steering angle) of the target vehicle, and the steering angle of the target vehicle can reflect the steering intention of the target vehicle more accurately than the vehicle course angle used in the prior art; the accuracy of predicting the driving track of the target vehicle can be improved, so that whether the vehicle collides with the target vehicle or not can be judged more accurately according to the predicted driving track, the situation that the driving vehicle decelerates improperly is relieved, and the riding experience of passengers is improved.
本发明涉及自动驾驶技术领域,尤其是涉及一种行驶轨迹的预测方法、装置及自动驾驶车辆。该方法包括:获取目标车辆的行驶特征信息;其中,该行驶特征信息包括位置、车速和转向角;该转向角为车轮转角或方向盘转角;根据该行驶特征信息预测该目标车辆的行驶轨迹。本发明实施例通过利用目标车辆的转向角(例如车轮转角或者方向盘转角)预测目标车辆未来的行驶轨迹,因目标车辆的转向角相比于现有技术中所用的车辆航向角,更能准确反应目标车辆的转向意图,可以提高对目标车辆的行驶轨迹进行预测的准确度,从而可以根据该预测的行驶轨迹更准确地判断是否会与该目标车辆相撞,以缓解行驶车辆不当减速的情况,提高了乘客的乘车体验。
Driving track prediction method and device and automatic driving vehicle
行驶轨迹的预测方法、装置及自动驾驶车辆
20.04.2021
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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