The invention discloses a trajectory prediction method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring a plurality of first candidate lanes corresponding to a predicted vehicle; respectively acquiring lane features corresponding to the plurality of first candidate lanes; processing the lane features corresponding to the plurality of first candidate lanes based on a pre-trained lane prediction model to obtain classification probabilities corresponding to the plurality of first candidate lanes; and obtaining a predicted trajectory of the predicted vehicle based on the classification probabilities corresponding to the plurality of first candidate lanes. According to the technical scheme provided by the embodiment of the invention, the road topological structure in the map is fully utilized in the training process of the lane prediction model, so that the learning ability of the lane prediction model to the map is enhanced, and the track prediction efficiency is improved when track prediction is performed through the prediction result of the lane prediction model subsequently. The relation between the prediction trajectory and the map constraint is enhanced, the prediction probability of an unreasonable trajectory can be reduced, and the trajectory jitter problem is reduced.

    本申请公开一种轨迹预测方法、装置、车辆以及存储介质。该方法包括获取与预测车辆相对应的多个第一候选车道;分别获取多个第一候选车道对应的车道特征;基于预先训练的车道预测模型对多个第一候选车道对应的车道特征进行处理,得到多个第一候选车道分别对应的分类概率;基于多个第一候选车道分别对应的分类概,获取预测车辆的预测轨迹。本申请实施例提供的技术方案,由于车道预测模型的训练过程充分利用了地图中的道路拓扑结构,因此该车道预测模型对地图的学习能力得以增强,后续通过车道预测模型的预测结果进行轨迹预测时,增强了预测轨迹与地图约束之间的关系,可以减小不合理轨迹的预测概率,降低轨迹抖动问题。


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    Titel :

    Trajectory prediction method and device, vehicle and storage medium


    Weitere Titelangaben:

    轨迹预测方法、装置、车辆以及存储介质


    Beteiligte:
    ZHOU BINGYU (Autor:in) / YANG HONGGOU (Autor:in) / LIU KUANG (Autor:in) / LIU XINGYE (Autor:in) / CHEN DI (Autor:in) / LIU JIACHAO (Autor:in) / WANG QINQIN (Autor:in) / XIE DONGYU (Autor:in) / ZHANG YUE (Autor:in)

    Erscheinungsdatum :

    2024-03-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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