The invention discloses an obstacle vehicle driving behavior prediction method and device, a vehicle and a storage medium. The method comprises the following steps: 1, ; acquiring relative position information of the obstacle vehicle, combining the relative position information of the obstacle vehicle based on the positioning information of the own vehicle; determining the accurate position of theobstacle vehicle; acquiring the accurate position of the obstacle vehicle within the preset time; generating vehicle movement trajectory, and generating an observation value sequence according to thevehicle movement track, obtaining corresponding forward probabilities of the observation value sequence through at least one preset driving action model, determining the maximum forward probability from the forward probabilities, and determining the driving action of the obstacle vehicle according to a judgment result of the maximum forward probability. The problem that only forward vehicles canbe predicted during obstacle vehicle driving behavior prediction is solved, the effect of predicting the driving behavior of any surrounding vehicle is achieved, and a safe and efficient driving routeis better planned by accurately judging the possible driving intention of the obstacle vehicle.

    本发明公开了一种障碍车辆驾驶行为预测方法、装置、车辆及存储介质。该方法包括:获取障碍车辆的相对位置信息,基于自身车辆的定位信息结合所述障碍车辆的相对位置信息,确定障碍车辆的准确位置,根据预设时间内障碍车辆的准确位置,生成车辆运动轨迹,根据所述车辆运动轨迹生成观测值序列,将所述观测值序列通过至少一个预设驾驶动作模型得到相应的前向概率,从各所述前向概率中确定最大前向概率,根据对所述最大前向概率的判定结果,确定所述障碍车辆的驾驶动作。解决了障碍车辆驾驶行为预测时只能预测前向车辆的问题,实现了预测周围任一车辆驾驶行为的效果,通过准确判断障碍车辆的可能驾驶意图,更好的规划安全高效的行驶路线。


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    Title :

    Obstacle vehicle driving behavior prediction method and device, vehicle and storage medium


    Additional title:

    一种障碍车辆驾驶行为预测方法、装置、车辆及存储介质


    Contributors:
    LI YUJI (author) / SHANG BINGXU (author) / WANG HONGFENG (author) / CHEN ZHIXIN (author) / LIU YANG (author) / XU CHAOWEN (author)

    Publication date :

    2020-06-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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