The invention relates to a vehicle track prediction method and device, equipment and a storage medium, and relates to the technical field of automobiles. The method comprises the following steps: acquiring vehicle information collected by a plurality of sensors included in a vehicle, and inputting the vehicle information into a preset motion track prediction model to obtain predicted track information of the vehicle; inputting the vehicle information into a preset positioning algorithm to obtain positioning information of the vehicle; and inputting the predicted trajectory information and the positioning information into a linear Kalman filter to obtain target trajectory information of the vehicle, and moving the vehicle based on the target trajectory information. Therefore, the predicted trajectory information of the vehicle can be combined with the positioning information of the vehicle, more accurate target trajectory information of the vehicle is obtained, the safety of intelligent driving is guaranteed, and the problem that when parking is performed only based on the predicted trajectory information of the vehicle, observation cannot be performed through the positioning information of the vehicle to avoid obstacles, and the parking efficiency is improved is solved. And thus, security threats are caused to intelligent driving behaviors.

    本申请涉及一种车辆轨迹预测方法、装置、设备及存储介质,涉及汽车技术领域。该方法包括:获取车辆包括的多个传感器采集到的车辆信息,并将车辆信息输入至预设的运动轨迹预测模型中,得到车辆的预测轨迹信息;将车辆信息输入至预设的定位算法中,得到车辆的定位信息;将预测轨迹信息和定位信息输入至线性卡尔曼滤波器中,得到车辆的目标轨迹信息,并基于目标轨迹信息移动车辆。由此,可以将车辆的预测轨迹信息与车辆的定位信息结合,获得更加准确的车辆的目标轨迹信息,保障智能驾驶的安全性,解决只基于车辆的预测轨迹信息进行泊车时,无法通过车辆的定位信息进行观测以避免障碍物,从而对智能驾驶行为产生安全威胁的问题。


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    Title :

    Vehicle trajectory prediction method and device, equipment and storage medium


    Additional title:

    车辆轨迹预测方法、装置、设备及存储介质


    Contributors:

    Publication date :

    2023-07-04


    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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