The invention discloses a vehicle moving trajectory prediction method and device. The method comprises the steps of obtaining expected vehicle moving trajectory data and a vehicle controller type; determining a data category of the vehicle expected moving trajectory data according to the vehicle expected moving trajectory data; determining a corresponding Gaussian mixture model according to the data category and the vehicle controller type; and predicting actual running track data of the vehicle according to the expected running track data of the vehicle and the Gaussian mixture model. Therefore, according to the method provided by the embodiment of the invention, different Gaussian mixture models are established according to different vehicle controller types and different types of vehicle speed data and vehicle trajectory curvature data, so that a relatively accurate vehicle running trajectory is obtained. Thus, according to the specific controller type and the specific working condition, the expected vehicle running track obtained through the vehicle control parameters can be corrected in a targeted mode, and the accuracy of the predicted vehicle running track is improved.
本申请公开了一种车辆运行轨迹预测方法及装置,该方法包括:获得车辆期望运行轨迹数据和车辆控制器类型;根据所述车辆期望运行轨迹数据确定所述车辆期望运行轨迹数据的数据类别;根据所述数据类别和所述车辆控制器类型确定对应的高斯混合模型;根据所述车辆期望运行轨迹数据和所述高斯混合模型预测车辆的实际运行轨迹数据。由此可见,本申请实施例提供的方法,通过针对不同的车辆控制器类型,不同类别的车辆速度数据和车辆轨迹曲率数据,建立不同的高斯混合模型,从而得到较为准确的车辆运行轨迹。如此,可以针对性地根据特定控制器类型和特定工况,对车辆控制参数得到的车辆期望运行轨迹进行修正,提高了预测的车辆运行轨迹的精准度。
Vehicle running track prediction method and device
一种车辆运行轨迹预测方法及装置
2021-05-07
Patent
Electronic Resource
Chinese
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