The embodiment of the invention discloses a lane changing track prediction method and device and a computer storage medium, and the method comprises the steps: obtaining the real-time driving data of vehicles around a target vehicle, and the real-time driving data comprises the position information, speed and acceleration of each vehicle; vehicle intention prediction is carried out on the real-time driving data based on a continuous hidden Markov model, a vehicle lane changing track data set is obtained, and the vehicle lane changing track data set comprises a vehicle left turning track data set, a vehicle right turning track data set and a vehicle straight walking track data set; performing feature extraction on the vehicle lane changing trajectory data set based on a trained neural network to obtain a predicted driving trajectory of the vehicle; therefore, the future driving state of the surrounding vehicle can be quickly and accurately known, and the trajectory prediction is more accurate and stable.
本发明实施例公开了一种变道轨迹预测方法、装置及计算机存储介质,包括:获取目标车辆的周围车辆的实时行驶数据,其中,所述实时行驶数据包括每一车辆的位置信息、速度及加速度;基于连续隐马尔可夫模型对所述实时行驶数据进行车辆意图预测,得到包含车辆变道轨迹数据集,其中,所车辆变道轨迹数据集包括车辆左转轨迹数据集、车辆右转轨迹数据集及车辆直走轨迹数据集;基于训练后的神经网络对所述车辆变道轨迹数据集进行特征提取,得到车辆的预测行驶轨迹;如此,能够可快速准确的了解周边车辆未来的驾驶状态,使轨迹预测更加精准稳定。
Lane changing track prediction method and device and computer storage medium
一种变道轨迹预测方法、装置及计算机存储介质
2022-03-04
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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