The invention discloses a rule-based target lane prediction method in an intersection scene. The method comprises intention prediction, target exit prediction and target lane prediction. The method specifically comprises the following steps: predicting semantic behaviors for vehicles entering an intersection, and endowing different behavior tags based on different semantic behaviors; predicting a target exit which the vehicle may go to through the obtained semantic behavior; according to the method, a reasonable target lane is obtained through calculation through semantic behaviors and a predicted target exit, the reasonable target lane is screened based on geometric calculation through output of high-precision map and perception fusion, map elements are fully utilized, and a perception result can be analyzed according to artificial and environmental constraints; a stable and accurate intersection target lane is given, the prediction problem in the intersection is refined, and the interpretability of the prediction problem is improved; through target exit prediction and target lane prediction, the solution space of the prediction problem is reduced, the transverse jump of the prediction trajectory is reduced, and the vehicle driving stability is improved.

    本发明公开一种路口场景下基于规则的目标车道的预测方法,包括意图预测、目标出口预测、目标车道预测;具体为针对已经进入路口的车辆预测语义行为,并基于不同的语义行为赋予不同的行为标签;通过获知的语义行为,预测车辆可能前往的目标出口;通过语义行为及预测的目标出口,通过计算得出合理的目标车道,该方法通过高精地图和感知融合的输出,充分利用地图元素,基于几何计算筛选合理的目标车道,且能够依据人为和环境约束,分析感知结果,给出较为稳定且准确的路口目标车道,将路口内预测问题细化,提升预测问题的可解释性;通过目标出口预测和目标车道预测,缩小预测问题的解空间,减少预测轨迹的横向跳变,提升车辆行驶的稳定性。


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    Title :

    Rule-based target lane prediction method in intersection scene


    Additional title:

    一种路口场景下基于规则的目标车道的预测方法


    Contributors:
    XU CHENGFENG (author) / LUO YUANFU (author)

    Publication date :

    2023-06-23


    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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