本申请公开一种交叉路口预测轨迹的过滤方法、装置、设备及存储介质,涉及自动驾驶技术领域,能够实现对违背交通指示信号的障碍物的预测轨迹进行过滤,从而避免车辆在通过交叉路口时速度决策的跳变。具体方案包括:获取规划路径、目标车辆的交通指示信号和第一预设范围内障碍物的预测轨迹集;根据规划路径确定目标车辆通过交叉路口的第一通行方式;若第一通行方式为左转或直行,且交通指示信号指示第一通行方式可通行,则从预测轨迹集中确定出与规划路径存在交集的参考预测轨迹,并获取参考预测轨迹对应的参考障碍物通过交叉路口的第二通行方式;将第二通行方式为左转或直行的参考障碍物确定为目标障碍物,对目标障碍物的预测轨迹进行删减处理。

    The invention discloses a method, a device and equipment for filtering a predicted trajectory of an intersection, and a storage medium, relates to the technical field of automatic driving, and can filter the predicted trajectory of an obstacle violating a traffic indication signal so as to avoid jumping of a speed decision when a vehicle passes through the intersection. According to the specific scheme, the method comprises the steps of obtaining a planned path, a traffic indication signal of a target vehicle and a predicted trajectory set of obstacles in a first preset range; determining a first passing mode of the target vehicle passing through the intersection according to the planned path; if the first passing mode is left turning or straight going, and the traffic indication signal indicates that the first passing mode can pass, determining a reference prediction track having an intersection with the planned path from the prediction track set, and obtaining a second passing mode of a reference obstacle passing through the intersection corresponding to the reference prediction track; and determining the reference obstacle of which the second passing mode is left turning or straight going as a target obstacle, and performing deletion processing on the predicted trajectory of the target obstacle.


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    Titel :

    交叉路口预测轨迹的过滤方法、装置、设备及存储介质


    Erscheinungsdatum :

    2024-07-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS