The invention discloses a method, a device and equipment for predicting an obstacle movement track and a storage medium, relates to the technical field of automatic driving, and can improve the prediction precision of predicting the obstacle movement track based on traditional electronics. According to the specific scheme, the method comprises the steps that obstacle types and historical tracks of all obstacles included in a preset range around a vehicle are received, a vehicle planning path sent by a planning module is received, and a vehicle position sent by a positioning module is received; obtaining a regional map of a preset range from a map module according to the vehicle position, wherein the map module comprises a high-precision map and an electronic map; if the regional electronic map of the preset range is obtained and the regional high-precision map of the preset range is not obtained, an image of the preset range is obtained from a sensing module, and a similar regional high-precision map of the preset range is generated according to the image and the regional electronic map; and determining a predicted trajectory of the obstacle according to the region-like high-precision map, the obstacle type, the historical trajectory of the obstacle and the vehicle planning path.

    本申请公开一种障碍物运动轨迹的预测方法、装置、设备及存储介质,涉及自动驾驶技术领域,能够提高基于传统电子预测障碍物运动轨迹的预测精度。具体方案包括:接收车辆周围预设范围中包括的障碍物类型和各障碍物的历史轨迹、接收规划模块发送的车辆规划路径、以及接收定位模块发送的车辆位置;根据车辆位置从地图模块获取预设范围的区域地图,地图模块中包括高精地图和电子地图;若获取到预设范围的区域电子地图,未获取到预设范围的区域高精地图,则从感知模块获取预设范围的图像,并根据图像和区域电子地图生成预设范围的类区域高精地图,以及根据类区域高精地图、障碍物类型、障碍物的历史轨迹和车辆规划路径确定障碍物的预测轨迹。


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    Title :

    Obstacle motion trail prediction method and device, equipment and storage medium


    Additional title:

    障碍物运动轨迹的预测方法、装置、设备及存储介质


    Contributors:
    ZHANG ZHENLIN (author) / QIN TONG (author) / CHEN YINZI (author)

    Publication date :

    2023-03-21


    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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