The invention discloses an automobile track prediction method. The method comprises the following steps that an environment state picture of a current frame and vehicle state information of a sample vehicle at the current moment serve as input data to be input into a prediction model; acquiring steering deviation data of the autonomous vehicle in the recent time, wherein the steering deviation data comprises a target deflection angle and a real deflection angle of a front wheel at the moment t; acquiring vehicle state information of the autonomous vehicle at the t moment; generating a reference offset compensation function based on the vehicle state information at the t moment and the steering offset data; generating a sample offset compensation function corresponding to the sample vehicle according to the vehicle state information of the sample vehicle at the current moment and the reference offset compensation function; correcting a prediction model according to the sample offset compensation function; and obtaining a prediction track of the sample vehicle from the output end of the corrected prediction model. The method has the advantage that the prediction precision is improved.

    本发明公开了一种汽车轨迹预测方法,包括如下步骤:将当前帧的所述环境状态图片和当前时刻中所述样本车辆的车辆状态信息作为输入数据输入预测模型;获取自动驾驶车辆最近时间内的转向偏移数据,所述转向偏移数据包括t时刻前轮的目标偏转角和真实偏转角;获取t时刻自动驾驶车辆的车辆状态信息;基于t时刻的车辆状态信息、转向偏移数据生成基准偏移补偿函数;根据当前时刻的样本车辆的车辆状态信息及基准偏移补偿函数生成对应样本车辆的样本偏移补偿函数;根据所述样本偏移补偿函数对预测模型进行修正;从修正后的预测模型的输出端获取所述样本车辆的预测轨迹。本发明具有提高了预测精度的优点。


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    Title :

    Automobile track prediction method


    Additional title:

    一种汽车轨迹预测方法


    Contributors:
    QIU HAITAO (author) / ZHU AIJUN (author)

    Publication date :

    2022-11-25


    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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