The invention discloses a vehicle motion trail prediction method. The method comprises the following steps: acquiring a current driving control signal of a target vehicle; taking the current driving control signal of the target vehicle as a control variable of a kinematic model of the target vehicle to obtain a motion state variable of the target vehicle; updating the motion state variable to obtain a new motion state variable; and obtaining a predicted motion track of the target vehicle based on the new motion state variable. According to the method, the kinematic model of the vehicle is combined in the prediction process, so that the problem that the output trajectory of a pure deep learning model in engineering lacks kinematic constraints is solved, reliable target trajectory prediction information is provided for an automatic driving system, the vehicle driving safety is improved, and the prediction efficiency is improved. Therefore, the model has higher generalization and robustness in various scenes, and the predicted trajectory better conforms to kinematics.
本发明公开了一种车辆运动轨迹预测方法,包括:获取目标车辆的当前行驶控制信号;以所述目标车辆的当前行驶控制信号作为目标车辆的运动学模型的控制变量,得到目标车辆的运动状态变量;更新所述运动状态变量,得到新的运动状态变量;基于所述新的运动状态变量得到目标车辆的预测运动轨迹。本发明由于在预测过程中结合了车辆的运动学模型,解决了工程化中纯深度学习模型输出轨迹缺乏运动学约束的问题,为自动驾驶系统提供可靠的目标轨迹预测信息,提升车辆行驶的安全性,使得模型在各类场景具有更强的泛化性和鲁棒性,预测轨迹更符合运动学。
Vehicle motion trail prediction method, device, equipment and medium
一种车辆运动轨迹预测方法、装置、设备及介质
2023-11-24
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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