The invention discloses a motion state determination method and device and a storage medium, and the method comprises the steps: carrying out the motion track prediction of a traffic subject around a vehicle in real time, so as to obtain the prediction track data of the traffic subject at the current moment; according to the predicted trajectory data, determining a lane changing direction of lane changing of the traffic subject and a target lane, and determining a target lane line type and a target lane attribute of the target lane; according to the type of the traffic subject, performing weighted scoring calculation on the predicted trajectory data, the type of the target lane line and the attribute of the target lane to obtain a lane changing intention score of the traffic subject at the current moment; determining the motion state of the traffic subject according to the lane changing intention score and the lane changing direction; according to the method, the influence of factors such as the prediction track and type of the traffic subject and the traffic rule on the lane changing intention is considered, and the accuracy of the lane changing intention of the traffic subject is improved, so that the motion state of the traffic subject can be accurately judged.
本发明公开了一种运动状态确定方法、装置及存储介质,方法包括:实时对自车周围的交通主体进行运动轨迹预测,以获得当前时刻交通主体的预测轨迹数据;根据预测轨迹数据,确定交通主体换道的换道方向和目标车道,并确定目标车道的目标车道线类型和目标车道属性;根据交通主体的类型,对预测轨迹数据、目标车道线类型和目标车道属性进行加权评分计算,以获得当前时刻交通主体的换道意图得分;根据换道意图得分和换道方向,确定交通主体的运动状态;本发明中,考虑了交通主体的预测轨迹、类型以及交通规则等因素对换道意图的影响,提高了交通主体的换道意图的准确性,从而能够准确地判断交通主体的运动状态。
Motion state determination method and device and storage medium
一种运动状态确定方法、装置及存储介质
2023-06-16
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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