The invention discloses a vehicle trajectory prediction method and device, equipment and a storage medium. The method comprises the steps of obtaining a vehicle reference driving trajectory corresponding to a target lane and current motion state information of a target vehicle; and according to the current motion state information, determining a vehicle prediction driving track formed by driving the target vehicle at the target curvature, wherein the target curvature enables the distance between the predicted driving track of the vehicle and the reference driving track of the vehicle to be minimum. Therefore, real-time trajectory prediction is carried out on the target vehicle in the traffic scene under limited computing resources, so that the to-be-moved path of the current vehicle is planned, the occurrence possibility of accident risks is reduced, and the automatic driving safety is improved.

    本发明公开了一种车辆轨迹预测方法、装置、设备和存储介质,方法包括:获取目标车道对应的车辆参考行驶轨迹和目标车辆的当前运动状态信息;根据当前运动状态信息,确定目标车辆以目标曲率行驶所形成的车辆预测行驶轨迹;其中,目标曲率使得车辆预测行驶轨迹与车辆参考行驶轨迹之间的距离最小。从而实现在有限的计算资源下,对交通场景中的目标车辆进行实时轨迹预测,以便于对当前车辆的待移动路径进行规划,进而降低意外风险的发生可能性,提高自动驾驶安全性。


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    Title :

    Vehicle trajectory prediction method and device, equipment and storage medium


    Additional title:

    一种车辆轨迹预测方法、装置、设备和存储介质


    Contributors:
    REN QILIN (author) / YIN-ZHOU JIANCHENG (author) / HAN XU (author)

    Publication date :

    2021-04-13


    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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