Examples of the present disclosure describe a method, an apparatus, and a vehicle for trajectory prediction. The method comprises obtaining sensor data for an object surrounding a vehicle from at least one sensor installed on the vehicle (502); feeding the obtained sensor data into a hybrid predictor consisting of a plurality of predictors each with a weight assigned by the hybrid predictor, wherein the plurality of predictors comprise at least a free space predictor and a roadmodel-based predictor (504); for a current time instant, each of the plurality of predictors giving its own predictions for a predetermined period of time from the current time instant based on historical sensor data from the at least one sensor (506); the hybrid predictor determining a reliability of each one of the plurality of predictors (508); the hybrid predictor outputting weighted hybrid predictions for the predetermined period of time from the current time instant based on the respective predictions given by each of the plurality of predictors and the reliability of each one of the plurality of predictors, with assigning a greater weight to the predictor that gave a better prediction in the previous one or more time instants (510); and providing a predicted trajectory based on the weighted hybrid predictions (512).

    本公开的各示例描述了一种用于轨迹预测的方法、装置和车辆。该方法包括:从安装在车辆上的至少一个传感器获取针对车辆周围对象的传感器数据(502);将所获取的传感器数据馈入混合预测器中,该混合预测器包括各自具有由该混合预测器指派的权重的多个预测器,其中该多个预测器至少包括自由空间预测器和基于道路模型的预测器(504);对于当前时刻,该多个预测器中的每一者基于来自该至少一个传感器的历史传感器数据来给出其自己针对从当前时刻起的预定时间段的预测(506);该混合预测器确定该多个预测器中的每一者的可靠性(508);该混合预测器基于由该多个预测器中的每一者给出的相应预测以及该多个预测器中的每一者的可靠性来输出针对从当前时刻起的预定时间段的加权混合预测,其中将更大的权重指派给在前一个或多个时刻给出更好预测的预测器(510);以及基于加权混合预测来提供所预测的轨迹(512)。


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    Title :

    TRAJECTORY PREDICTION FOR DRIVING STRATEGY


    Additional title:

    用于驾驶策略的轨迹预测


    Contributors:
    DOMLING MAXIMILIAN (author) / GE YAO (author) / NOTZ DOMINIK (author) / XU GAOWEI (author)

    Publication date :

    2021-09-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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