The embodiment of the invention relates to a processing method for predicting the motion trail of a vehicle. The method comprises the following steps: collecting a first target point position coordinate P, a first target velocity vector V, a first prediction duration L and a first prediction interval t; calculating N = L/t; when the motion trail parameters of the N prediction points are sequentially predicted, obtaining a prediction parameter group of the previous point; predicting the position coordinate of the current prediction point; predicting the driving speed vector of the current prediction point; predicting a rear wheel steering angle of the current prediction point; predicting a front wheel steering angle of the current prediction point; predicting the driving acceleration vector of the first prediction point; forming a current point prediction parameter group; and forming a vehicle motion trail prediction parameter sequence by the N prediction parameter groups. Through the method, multiple types of motion track prediction results can be obtained, and the method can be used for behavior decision making and can also be used for track planning and driving simulation.
本发明实施例涉及一种预测车辆运动轨迹的处理方法,所述方法包括:获取第一目标点位置坐标P、第一目标速度矢量V、第一预测时长L和第一预测间隔△t;计算N=L/△t;在对N个预测点的运动轨迹参数进行顺序预测时,获取前一点预测参数组;对当前预测点的位置坐标进行预测;对当前预测点的行驶速度矢量进行预测;对当前预测点的后轮转向角进行预测;对当前预测点的前轮转向角进行预测;对第一个预测点的行驶加速度矢量进行预测;组成当前点预测参数组;由N个预测参数组构成车辆运动轨迹预测参数序列。通过本发明可以得到多种类型的运动轨迹预测结果,既可用于行为决策,还可用于轨迹规划和驾驶模拟。
Processing method for predicting motion trail of vehicle
一种预测车辆运动轨迹的处理方法
2021-11-02
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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