The invention provides an obstacle trajectory prediction method and device, an unmanned vehicle and a storage medium. The obstacle trajectory prediction method comprises the following steps: determining a target road scene where the unmanned vehicle is currently located according to position information; and if the plurality of obstacle numbers in the obstacle prediction queue include the target obstacle number of the target obstacle, determining a target motion constraint boundary condition of the target obstacle in the target road scene according to a preset corresponding relationship among the road scene, the obstacle and the motion constraint boundary condition of the obstacle. And if the motion information of the target obstacle meets the target motion constraint boundary condition, obtaining target motion observation information according to the position information and the motion information of the target obstacle. Based on the target motion observation information and the size information, the motion track of the target obstacle within the specified time is predicted, the predicted track of the target obstacle is obtained, the effectiveness of the predicted track is improved, and the prediction cost is reduced.

    本发明提供一种障碍物的轨迹预测方法及装置、无人驾驶车辆及存储介质。障碍物的轨迹预测方法包括:根据位置信息确定无人驾驶车辆当前所处的目标道路场景。若障碍物预测队列中的多个障碍物编号中包括目标障碍物的目标障碍物编号,则根据预置的道路场景、障碍物以及障碍物的运动约束边界条件之间的对应关系,确定目标障碍物在目标道路场景下的目标运动约束边界条件。若目标障碍物的运动信息满足目标运动约束边界条件,则根据位置信息和目标障碍物的运动信息得到目标运动观测信息。基于目标运动观测信息和尺寸信息,对目标障碍物在指定时间内的运动轨迹进行预测,得到目标障碍物的预测轨迹,进而有助于提高预测轨迹的有效性,降低预测成本。


    Access

    Download


    Export, share and cite



    Title :

    Obstacle trajectory prediction method and device, unmanned vehicle and storage medium


    Additional title:

    障碍物的轨迹预测方法及装置、无人驾驶车辆及存储介质


    Contributors:
    WEN BAO (author) / CHEN YONG (author) / HU HAILONG (author)

    Publication date :

    2023-03-03


    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



    Obstacle trajectory prediction method, device, electronic equipment and storage medium

    LI YUJI / WANG XIANGLING / HE LIU et al. | European Patent Office | 2021

    Free access

    Obstacle trajectory prediction method and device, electronic equipment and storage medium

    WANG NING / LI RONGHUA / CHEN HONGLI et al. | European Patent Office | 2022

    Free access

    OBSTACLE TRAJECTORY PREDICTION METHOD AND APPARATUS, ELECTRONIC DEVICE, AND STORAGE MEDIUM

    LI YUJI / WANG XIANGLING / HE LIU et al. | European Patent Office | 2023

    Free access

    Obstacle trajectory prediction method, device, equipment and medium

    ZHAO HUITING / HAO ZHI / YANG SHOUCHEN et al. | European Patent Office | 2023

    Free access

    Vehicle obstacle avoidance method and device, unmanned vehicle and storage medium

    AN XIANGJING / PENG CHENG | European Patent Office | 2023

    Free access