The invention relates to a method for predicting behaviors of traffic participants. The method comprises the following steps: acquiring first motion state distribution of at least one traffic participant at a first time point; predicting a second motion state distribution of the at least one traffic participant at a second point in time, the second point in time having elapsed a first time span from the first time to the future; defining a trajectory distribution, each trajectory in the trajectory distribution associating a motion state of the first motion state distribution with a motion state of the second motion state distribution; then, acquiring a third motion state distribution of the at least one traffic participant at a third time point, the third time point being later than the first time point by a second time span, the second time span being shorter than the first time span; the compatibility between the third motion state distribution and the motion state distribution generated by evaluating each track in the track distribution at the third time point is determined, and the probability is assigned to the tracks of the track distribution based on the determined compatibility. The invention also relates to a driving system and a vehicle.
本发明涉及预测交通参与者行为的方法,包括:获取第一时间点处至少一个交通参与者的第一运动状态分布;预计第二时间点处该至少一个交通参与者的第二运动状态分布,第二时间点从第一时间起向未来经过第一时间跨度;定义轨迹分布,该轨迹分布中的每条轨迹将第一运动状态分布的运动状态与第二运动状态分布的运动状态相关联;然后,获取第三时间点处该至少一个交通参与者的第三运动状态分布,第三时间点比第一时间点晚第二时间跨度,第二时间跨度比第一时间跨度短;确定第三运动状态分布与在第三时间点对轨迹分布中每条轨迹进行评估所产生的运动状态分布间的兼容性,基于所确定的兼容性将概率分配给轨迹分布的轨迹。本发明还涉及驾驶系统和车辆。
Method for predicting traffic participant behavior, driving system and vehicle
用于预测交通参与者行为的方法、驾驶系统和车辆
2023-10-27
Patent
Elektronische Ressource
Chinesisch
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