The invention provides a vehicle long-term trajectory prediction method and system in a complex scene. The vehicle long-term trajectory prediction method comprises the steps of: 1, acquiring vehicle state information according to a vehicle-mounted sensor, judging the vehicle state information through utilizing a hidden Markov model to obtain a vehicle driving intention; 2, establishing an acceleration prediction model and acquiring predicted acceleration according to the vehicle driving intention; and 3, iteratively calculating a long-term vehicle prediction trajectory by adopting a uniform acceleration model according to the predicted acceleration. According to the vehicle long-term trajectory prediction method and the system, the GPR prediction track model is provided, the future long-term running trajectory of the vehicle is accurately and effectively predicted, the vehicle long-term trajectory prediction method and the system are suitable for complex scenes, the accuracy and prediction precision of long-term running track prediction of the vehicle are improved, and the high efficiency and safety of vehicle running are enhanced.
本发明提供了一种复杂场景下车辆长期轨迹预测方法及系统,包括:步骤1:根据车载传感器采集车辆状态信息,利用隐马尔科夫模型对车辆状态信息进行判断,得出车辆驾驶意图;步骤2:根据车辆驾驶意图,建立加速度预测模型并得到预测加速度;步骤3:根据预测加速度,采用匀加速模型迭代计算出长期的车辆预测轨迹。本发明提出了GPR预测轨迹模型,准确有效地预测车辆未来长期的行驶轨迹,适用于复杂场景,提高了车辆长期行驶轨迹预测的准确性与预测精度,增强了车辆行驶的高效性与安全性。
Vehicle long-term trajectory prediction method and system in complex scene
复杂场景下车辆长期轨迹预测方法及系统
2020-11-27
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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