The invention provides a method and a system for predicting vehicles' moving trajectories. An obstacle state evolution of a spatial position of a moving obstacle over a period of time is determined. A lane-obstacle relation evolution of the moving obstacle with each of one or more lanes near the moving obstacle over the period of time is further determined. An intended movement of the moving obstacle is predicted based on the obstacle state evolution and the lane-obstacle evolution. Thereafter, a trajectory of the ADV is planned to control the ADV to avoid a collision with the moving obstacle based on the predicted intended movement of the moving obstacle. The above process is iteratively performed for each of the moving obstacles detected within a predetermined proximity of the ADV.
提供一种预测车辆的移动轨迹的方法及系统。确定移动障碍物的空间位置在一段时间内的障碍物状态演变。还确定移动障碍物与移动障碍物附近的一条或多条车道中的每条车道在一段时间内的障碍物关系演变。基于障碍物状态演变和车道‑障碍物演变预测移动障碍物的预期移动。此后,基于所预测的移动障碍物的预期移动,规划ADV的轨迹以控制ADV避免与移动障碍物碰撞。对于在ADV的预定邻近范围内检测到的移动障碍物中的每个,迭代地执行以上过程。
METHOD AND SYSTEM FOR PREDICTING VEHICLES' MOVING TRAJECTORIES
预测车辆的移动轨迹的方法及系统
2021-06-18
Patent
Electronic Resource
Chinese
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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