The invention provides a vehicle trajectory prediction method, system and device based on surrounding environment and behavior intention. The method comprises the following steps of: generating position and speed information of a vehicle relative to a lane in a historical time period based on sensor information and road information; constructing a hidden Markov model for the behavior intention ofthe vehicle according to the generated information, summarizing the understanding of the vehicle to the environment as a rule as a prior probability of the model, and predicting the behavior intentionof the vehicle at the current moment; according to the predicted vehicle behavior intention, setting a vehicle prediction end point state set based on the behavior decision model by combining the vehicle environment information, sampling the vehicle trajectory according to the vehicle starting point state and the end point state, and screening according to a cost function to obtain a first sampling trajectory; performing recursive sampling on the initial state of the vehicle by using state filtering to obtain a second sampling trajectory; and combining the first sampling trajectory and the second sampling trajectory by using a fusion weight function to obtain a prediction trajectory. By adopting the method provided by the invention, the future trajectory of the surrounding vehicle can bepredicted, and danger early warning and path planning reference are provided for the unmanned vehicle.
本发明提供了一种基于周围环境与行为意图的车辆轨迹预测方法、系统及装置,包括:基于传感器信息以及道路信息,生成在历史时间段内车辆相对于车道的位置、速度信息;根据生成的信息对车辆的行为意图构建隐马尔可夫模型,将车辆对于环境的理解总结为规则作为模型的先验概率,预测当前时刻车辆的行为意图;根据预测的车辆行为意图,结合车辆环境信息,基于行为决策模型设置车辆预测终点状态集,根据车辆起点状态以及终点状态对车辆轨迹采样,并根据代价函数筛选得到第一采样轨迹;使用状态滤波,对车辆初始状态递推采样,得到第二采样轨迹;使用融合权重函数合并第一采样轨迹和第二采样轨迹,得到预测轨迹,采用本发明中的方法,能够预测周围车辆未来的轨迹,为无人驾驶车辆提供危险预警和路径规划参考。
Vehicle trajectory prediction method, system and device based on surrounding environment and behavior intention
一种基于周围环境与行为意图的车辆轨迹预测方法、系统及装置
2020-12-25
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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