The invention relates to an obstacle vehicle trajectory prediction method and device and a computer device. The obstacle vehicle trajectory prediction method comprises the steps that attribute parameters and lane parameters of an obstacle vehicle are acquired, the lane selection probability of the vehicle is calculated according to the attribute parameters and the lane parameters, and the attribute parameters comprise geometrical parameters and kinematics parameters; according to the lane selection probability, under the condition that it is judged that the vehicle takes the first lane as a target lane, the lane change probability of the vehicle is obtained according to the attribute parameters, the lane parameters and the track record of the vehicle; and the trajectory of the vehicle is predicted according to the lane selection probability and the lane change probability. According to the method and the device, the problem of relatively low prediction accuracy under the condition of predicting the behavior of the obstacle vehicle by using the low-precision sensor and the neural network model in the related technology is solved, and the accuracy of predicting the track of the obstacle vehicle under the condition of using the low-precision sensor is improved.
本申请涉及一种障碍物车辆轨迹预测的方法、设备和计算机设备,其中,障碍物车辆轨迹预测的方法通过获取障碍物车辆的属性参数和车道参数,根据属性参数和车道参数,计算车辆的车道选择概率,其中,属性参数包括几何参数和运动学参数;根据车道选择概率,在判定车辆以第一车道为目标车道的情况下,根据属性参数、车道参数和车辆的轨迹记录,获取车辆的变道概率;根据车道选择概率和变道概率,对车辆的轨迹进行预测。通过本申请,解决了相关技术中,在使用低精度传感器,通过神经网络模型对障碍物车辆的行为进行预测的情况下,预测准确率较低的问题,提高了在使用低精度传感器的情况下,对障碍物车辆的轨迹预测的准确度。
Obstacle vehicle trajectory prediction method and device and computer device
障碍物车辆轨迹预测的方法、设备和计算机设备
2020-07-17
Patent
Electronic Resource
Chinese
IPC: | G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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