The invention belongs to the technical field of auxiliary driving, and relates to a vehicle short-term trajectory prediction method, system and device and a medium. The initial yaw velocity is obtained according to the current vehicle speed, and the initial value of the yaw velocity is introduced, so that the accuracy of track prediction at medium and high speeds is improved; the accumulated steering curvature change value is obtained according to the step number of the for cycle, the prediction time step length, the total time of steering change and the change rate of the steering curvature, and the accuracy of track prediction at a low speed can be improved; the predicted yaw velocity is obtained according to the initial yaw velocity and the accumulated steering curvature change value, and the accuracy of track prediction at the medium speed can be improved; and predicting the coordinates of the short-term trajectory according to the total yaw angle and the current position coordinates. According to the method, the track is predicted by integrating the yaw velocity and the steering curvature, the short-term track prediction of the vehicle can be realized, and the track prediction accuracy is improved.
本发明属于辅助驾驶技术领域,涉及一种车辆短期轨迹预测方法、系统、设备和介质。本发明根据当前车速获取初始横摆角速度,引入横摆角速度初始值有利于提高本发明在中高速时的轨迹预测的准确性;根据for循环的步数和预测时间步长、转向变化发生的总时间和转向曲率的变化率获取累积转向曲率变化值,有利于提高低速时的轨迹预测的准确性;根据初始横摆角速度和累积转向曲率变化值获取预测横摆角速度,有利于提高中速时的轨迹预测的准确性;根据总的偏航角和当前位置坐标预测短期轨迹的坐标。本发明综合横摆角速度和转向曲率预测轨迹,能够实现车辆短期轨迹的预测,提高了轨迹预测的准确性。
Vehicle short-term trajectory prediction method, system, device and medium
一种车辆短期轨迹预测方法、系统、设备和介质
18.10.2024
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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