The invention relates to a trajectory prediction method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring historical state data of a target vehicle, historical state data of each target dynamic obstacle in a target range of the target vehicle, and target environment information in the target range; according to the target environment information, the position information in the historical state data of each target dynamic obstacle and the region information of each region in the target range, generating a target risk information graph of each target dynamic obstacle driving in the target range; and through a target trajectory prediction model, according to the target risk information graph, the historical state data of the target vehicle and the historical state data of each target dynamic obstacle, predicting future driving trajectories of the target vehicle and each target dynamic obstacle. Factors influencing automatic driving of the vehicle are more fully considered, the reasonability of predicting the driving track of automatic driving of the vehicle is improved, and potential safety hazards in the automatic driving process are reduced.
本申请涉及一种轨迹预测方法、装置、计算机设备和存储介质。所述方法包括:获取目标车辆的历史状态数据、目标车辆的目标范围内各目标动态障碍物的历史状态数据,以及目标范围内的目标环境信息;并根据目标环境信息、各目标动态障碍物的历史状态数据中的位置信息和目标范围内每一区域的区域信息,生成各目标动态障碍物在目标范围内行驶的目标风险信息图;进而通过目标轨迹预测模型,根据目标风险信息图、目标车辆的历史状态数据和各目标动态障碍物的历史状态数据,预测目标车辆和各目标动态障碍物的未来行驶轨迹。更加充分地考虑了影响车辆自动驾驶的因素,提高了预测车辆自动驾驶的行驶轨迹的合理性,减少了自动驾驶过程中的安全隐患。
Trajectory prediction method and device, computer equipment and storage medium
轨迹预测方法、装置、计算机设备和存储介质
26.04.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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