The invention relates to the technical field of vehicle trajectory prediction, in particular to a bypass vehicle trajectory prediction method in a car-following scene, which comprises the following steps: acquiring an environment historical state parameter and a main vehicle future state parameter; the environment historical state parameters comprise a main vehicle historical state parameter, a target vehicle historical state parameter and an interactive vehicle historical state parameter; and obtaining a future trajectory of the target vehicle according to the historical environment state parameters and the future state parameters of the main vehicle. The future trajectory of the target vehicle is obtained through the historical state parameters of the main vehicle, the historical state parameters of the target vehicle, the historical state parameters of the interactive vehicle and the future state parameters of the main vehicle, the interaction mechanism of multiple vehicles in the environment can be reflected, and the trajectory prediction accuracy of the target vehicle is improved. Meanwhile, as the influence of the future motion state of the main vehicle on the future motion trail of the target vehicle is considered, a more reliable input reference condition is provided for decision making of the main vehicle, the safety of autonomous car following of the vehicle is effectively improved, and the accident rate is reduced.
本发明涉及车辆轨迹预测技术领域,具体涉及一种跟驰场景下的旁道车辆轨迹预测方法,包括:获取环境历史状态参数和主车未来状态参数;环境历史状态参数包括主车历史状态参数、目标车辆历史状态参数、交互车辆历史状态参数;根据环境历史状态参数和主车未来状态参数获取目标车辆的未来轨迹。通过主车历史状态参数、目标车辆历史状态参数、交互车辆历史状态参数和主车未来状态参数获取目标车辆的未来轨迹,能够反映出环境中多车间的相互作用机理,提高了对目标车辆轨迹预测的准确性。同时,由于考虑了主车未来运动状态对目标车辆的未来运动轨迹的影响,为主车决策提供了更可靠的输入参照条件,有效提高了车辆自主跟驰的安全性,降低了事故率。
Bypass vehicle trajectory prediction method in following scene
一种跟驰场景下的旁道车辆轨迹预测方法
2022-07-15
Patent
Elektronische Ressource
Chinesisch
IPC: | 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 |
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