The invention discloses a vehicle obstacle intention prediction method and device and a vehicle track prediction method and device. The vehicle obstacle intention prediction method comprises the steps of obtaining a preset number of target obstacles corresponding to a target vehicle; predicting a transverse intention and an initial longitudinal intention of each target obstacle by using the position information and the state information of each target obstacle; based on each transverse intention, determining an interaction degree between any two target obstacles, and based on all the interaction degrees, obtaining an interaction graph corresponding to all the target obstacles; predicting a target obstacle with a way giving intention based on the interaction diagram; determining a target obstacle having both a way-giving intention and an initial longitudinal intention, and determining a final longitudinal intention of the target obstacle by using the way-giving intention; and taking the transverse intention, the way-giving intention and the final longitudinal intention as intention prediction results of the target obstacle. In this way, the intention of the vehicle obstacle can be predicted.

    本申请公开了一种车辆障碍物意图预测方法、车辆轨迹预测方法及设备,车辆障碍物意图预测方法包括:获取目标车辆对应的预设数量的目标障碍物;利用每一目标障碍物的位置信息和状态信息,预测每一目标障碍物的横向意图和初始纵向意图;基于每一横向意图,确定任意两个目标障碍物之间的交互度,并基于所有所述交互度,得到所有目标障碍物对应的交互图;基于交互图,预测出具有让行意图的目标障碍物;确定出同时具有让行意图和初始纵向意图的目标障碍物,利用让行意图确定目标障碍物的最终纵向意图;将横向意图、让行意图和最终纵向意图作为目标障碍物的意图预测结果。通过上述方式,可以实现车辆障碍物的意图进行预测。


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    Title :

    Vehicle obstacle intention prediction method, vehicle trajectory prediction method and equipment


    Additional title:

    车辆障碍物意图预测方法、车辆轨迹预测方法及设备


    Contributors:
    ZHOU MI (author) / XIAO ZHONGWEN (author) / ZHANG ZHEN (author)

    Publication date :

    2023-04-18


    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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