The invention relates to a vehicle track prediction method and device, an electronic device and a storage medium, and the method comprises the steps: determining a lane center line of a target vehicle, and predicting a lane changing intention of the target vehicle; generating a short-time prediction trajectory of the target vehicle based on a preset kinematic model, and compensating the lane center line based on the lane changing intention and the short-time prediction trajectory in combination with a preset interpolation algorithm to obtain a target reference line cluster; and generating a vehicle prediction track of the target vehicle based on the target reference line cluster. Through the method and the device, the reference line is compensated based on the short-time prediction trajectory of the kinematics information of the vehicle, so that the reference line conforming to the actual characteristics of the vehicle trajectory can be obtained, and the precision of the prediction result of the vehicle trajectory can be improved.
本申请涉及一种车辆轨迹预测方法、装置、电子装置和存储介质,其中,该车辆轨迹预测方法包括:确定目标车辆的车道中心线,并预测目标车辆的变道意图;基于预设的运动学模型生成目标车辆的短时预测轨迹,并基于变道意图和短时预测轨迹,结合预设的插值算法对车道中心线进行补偿,得到目标参考线簇;基于目标参考线簇生成目标车辆的车辆预测轨迹。通过本申请,基于车辆的运动学信息的短时预测轨迹实现了对参考线的补偿,从而能够得到符合车辆轨迹实际特征的参考线,进而能够提升车辆轨迹的预测结果的精度。
Vehicle trajectory prediction method and device, electronic device and storage medium
车辆轨迹预测方法、装置、电子装置和存储介质
2022-11-25
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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