The invention relates to a trajectory prediction method and device and a storage medium. The trajectory prediction method comprises the steps that a map image is acquired, the map image comprises a lane center line, a plurality of nodes are arranged on the lane center line at equal intervals, each node has a distance feature, and the distance features of other lane center line nodes having different distances from the node are fused in the distance features of the nodes; based on the position of the vehicle in the map image, determining a lane center line node closest to the position of the vehicle as a target node; carrying out vector combination on the distance feature of the target node and the historical trajectory feature of the vehicle to obtain a trajectory prediction vector; and predicting a driving track of the vehicle in the map image based on the track prediction vector. According to the embodiment of the invention, the distance feature and the historical vehicle trajectory are combined to obtain the trajectory prediction vector, so that the vehicle driving trajectory is predicted based on the trajectory prediction vector, the topological structure of the lane line in the map image can be reserved, and the trajectory prediction accuracy is improved.
本公开是关于一种轨迹预测方法、装置及存储介质。轨迹预测方法包括:获取地图图像,地图图像中包括车道中心线,车道中心线上具有等间距设置的若干个节点,每一节点具有距离特征,节点的距离特征中融合有与节点具有不同距离的其他车道中心线节点的距离特征;基于车辆在地图图像中的位置,确定与车辆位置最近的车道中心线节点,作为目标节点;将目标节点的距离特征与车辆的历史轨迹特征进行向量合并,得到轨迹预测向量;基于轨迹预测向量,预测车辆在地图图像中的行驶轨迹。通过本公开实施例,将距离特征与车辆历史轨迹合并得到轨迹预测向量,以基于轨迹预测向量预测车辆行驶轨迹,能够保留地图图像中车道线的拓扑结构,提高轨迹预测的准确性。
Trajectory prediction method, trajectory prediction device and storage medium
轨迹预测方法、轨迹预测装置及存储介质
2022-05-27
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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