The invention relates to a method for predicting the trajectory of a target vehicle in surroundings of the vehicle, comprising the following steps: a) detecting a state of the target vehicle by means of a camera-based detection device (2), detecting states of other vehicle objects in the surroundings of the vehicle, and detecting road markers, b) pre-processing the data obtained in step a),wherein the outliers are removed and missing states are calculated, c) calculating an estimated trajectory by means of a physical model based on the data pre-processed in step b), d) calculating a trajectory based on driver behavior based on the data pre-processed in step b), e) integrating the trajectories calculated in steps c) and d) into a predicted trajectory of the target vehicle.
本发明涉及一种用于预测目标车辆在车辆的环境中的轨迹的方法,该方法包括以下步骤:a)借助于基于摄像头的检测装置(2)来检测该目标车辆的状态、检测在该车辆的环境中的其他车辆物体的状态并且检测道路标记物,b)预处理在步骤a)中获得的数据,其中去掉离群值并且计算缺失的状态,c)借助于基于在步骤b)中预处理的数据的物理模型来计算估测轨迹,d)基于在步骤b)中预处理的数据来计算基于驾驶员行为的轨迹,e)将在步骤c)和d)中计算的轨迹整合成该目标车辆的预测轨迹。
Method and system for predicting trajectory of target vehicle in surroundings of vehicle
用于预测目标车辆在车辆的环境中的轨迹的方法和系统
2022-01-14
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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