The embodiment of the invention discloses an automatic driving track prediction method and device, equipment and a storage medium. The method comprises the following steps: acquiring first historical trajectory data of the autonomous vehicle, second historical trajectory data of surrounding obstacles and current map data; preprocessing the first historical trajectory data, the second historical trajectory data and the current map data, and determining first historical trajectory feature information, second historical trajectory feature information and current map feature information; on the basis of the lane type, performing down-sampling on lane nodes in the current map feature information to obtain down-sampled target map feature information; and inputting the first historical track feature information, the second historical track feature information and the target map feature information into a preset track prediction model, and based on the output of the preset track prediction model, obtaining a target prediction track of the obstacles around the autonomous vehicle, thereby improving the track prediction efficiency of the obstacles around the autonomous vehicle.

    本发明实施例公开了一种自动驾驶轨迹预测方法、装置、设备和存储介质。该方法包括:获取自动驾驶车辆的第一历史轨迹数据、周围障碍物的第二历史轨迹数据以及当前地图数据;对第一历史轨迹数据、第二历史轨迹数据和当前地图数据进行预处理,确定第一历史轨迹特征信息、第二历史轨迹特征信息和当前地图特征信息;基于车道类型,对当前地图特征信息中的车道节点进行降采样,获得降采样后的目标地图特征信息;将第一历史轨迹特征信息、第二历史轨迹特征信息和目标地图特征信息输入至预设轨迹预测模型,并基于预设轨迹预测模型的输出,获得自动驾驶车辆周围障碍物的目标预测轨迹,从而可以提高自动驾驶车辆周围障碍物的轨迹预测效率。


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    Title :

    Automatic driving track prediction method and device, equipment and storage medium


    Additional title:

    一种自动驾驶轨迹预测方法、装置、设备和存储介质


    Contributors:
    LU LIJING (author) / LI RONGHUA (author) / CHEN HONGLI (author) / WANG NING (author)

    Publication date :

    2022-07-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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