The invention provides a vehicle track prediction method and device, an automatic driving vehicle and a storage medium. The method comprises the following steps: acquiring straight road section data of a target vehicle on a straight road section of a highway; pre-training the initial trajectory prediction model based on the straight road section data to obtain a trajectory prediction pre-training model; obtaining interleaving section data of the target vehicle in an expressway interleaving section; training the trajectory prediction pre-training model based on the interleaving section data to obtain a completely trained target trajectory prediction model; and predicting the driving track of the target vehicle based on the target track prediction model. According to the method, the accuracy and the real-time performance of predicting the driving track of the interlaced section of the expressway are improved.
本发明提供了一种车辆轨迹预测方法、装置、自动驾驶车辆及存储介质,其方法包括:获取目标车辆在高速公路直线路段的直线路段数据;基于直线路段数据对初始轨迹预测模型进行预训练,获得轨迹预测预训练模型;获取目标车辆在高速公路交织区段的交织区段数据;基于交织区段数据对轨迹预测预训练模型进行训练,获得训练完备的目标轨迹预测模型;基于目标轨迹预测模型对目标车辆的行驶轨迹进行预测。本发明提高了对高速公路交织区段的行驶轨迹预测的准确性和实时性。
Vehicle track prediction method and device, automatic driving vehicle and storage medium
车辆轨迹预测方法、装置、自动驾驶车辆及存储介质
22.03.2024
Patent
Elektronische Ressource
Chinesisch
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