The invention relates to a method and equipment for predicting a vehicle trajectory for an urban open road scene, and a readable storage medium. The method for predicting the vehicle trajectory for the urban open road scene comprises the following steps: S1, acquiring perception information; s2, storing and managing perception information; s3, extracting high-precision map data based on the perceptual information; extracting perceptual information of all moving vehicles in the past k frames; extracting a motion state vector based on the perception information; s4, generating a lane line vector and a sidewalk vector of the target vehicle based on the high-precision map data and the motion state vector; generating a historical track vector; s5, generating a minimum value vector; and S6, inputting the deep neural network model, and reasoning to generate a target vehicle prediction trajectory in future s seconds. The invention provides the method and the equipment for predicting the vehicle track for the urban open road scene and the readable storage medium, and the method and the equipment are high in prediction accuracy, short in time consumption and high in applicability.
本发明涉及一种面向城市开放道路场景预测车辆轨迹的方法、设备及可读存储介质。该面向城市开放道路场景预测车辆轨迹的方法包括:S1,获取感知信息;S2,存储、管理感知信息;S3,基于感知信息提取高精地图数据;提取过往k帧的所有运动车辆的感知信息;基于感知信息提取运动状态向量;S4,基于高精地图数据和运动状态向量生成目标车辆的车道线向量、人行道向量;生成历史轨迹向量;S5,生成最小值向量;S6,输入深度神经网络模型,推理生成未来s秒内的目标车辆预测轨迹。本发明提出了一种面向城市开放道路场景预测车辆轨迹的方法、设备及可读存储介质,预测准确率高、耗时短且适用性强。
Method and device for predicting vehicle trajectory for urban open road scene, and readable storage medium
面向城市开放道路场景预测车辆轨迹的方法、设备及可读存储介质
2023-08-15
Patent
Electronic Resource
Chinese
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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