The invention provides a vehicle track prediction method and device, a vehicle, electronic equipment and a computer readable storage medium, and relates to the technical field of automatic driving. The method comprises the following steps: acquiring a first track of a vehicle according to a constant rotation rate and an acceleration model CTRA; obtaining a driving intention of the vehicle according to a hidden Markov model HMM; according to the driving intention of the vehicle, obtaining a lane changing end point coordinate of the vehicle through a GMM (Gaussian Mixture Model); obtaining a second track of the vehicle through a quintic polynomial according to the current coordinates of the vehicle and the coordinates of the lane changing end point of the vehicle; and obtaining a synthetic trajectory of the vehicle according to the first trajectory and the second trajectory. According to the method provided by the embodiment of the invention, more accurate prediction of the vehicle track can be realized.
本公开提供了一种车辆轨迹的预测方法、装置、车辆、电子设备及计算机可读存储介质,涉及自动驾驶技术领域。该方法包括:根据恒定转率和加速度模型CTRA获取车辆的第一轨迹;根据隐马尔可夫模型HMM获取所述车辆的驾驶意图;根据所述车辆的驾驶意图通过高斯混合模型GMM获取所述车辆的换道结束点坐标;根据所述车辆当前坐标和所述车辆的换道结束点坐标通过五次多项式获取所述车辆的第二轨迹;根据所述第一轨迹和所述第二轨迹获取所述车辆的合成轨迹。本公开实施例提供的方法,可以实现对车辆轨迹的更准确预测。
Vehicle track prediction method and device, vehicle, equipment and medium
车辆轨迹的预测方法、装置、车辆、设备及介质
2023-07-28
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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