The embodiment of the invention provides a vehicle motion state model optimization method, equipment and device and a storage medium. Obtaining vehicle position observation data, vehicle monitoring data and vehicle sensor data in a first time period before offline; determining map road data in a high-precision map according to the vehicle position observation data; processing the vehicle position observation data, the vehicle monitoring data and the vehicle sensor data by using the vehicle motion state model, and outputting a model prediction trajectory after a first time period; and correcting the vehicle motion state model according to the map road data and the model prediction trajectory. Vehicle position observation data, vehicle monitoring data, vehicle sensor data and the like are input into the vehicle motion state model, a predicted model prediction track can be output, and then the vehicle motion state model is corrected by combining deviation between map road data and the model prediction track, so that the vehicle motion state is corrected. The prediction effect of the vehicle motion state model can be effectively improved, and the prediction accuracy is improved.

    本申请实施例提供一种车辆运动状态模型优化方法、设备、装置及存储介质。获取离线前第一时间段内的车辆位置观测数据、车辆监测数据以及车辆传感器数据;根据车辆位置观测数据,确定高精地图中地图道路数据;利用车辆运动状态模型对车辆位置观测数据、车辆监测数据以及车辆传感器数据进行处理,输出第一时间段之后的模型预测轨迹;根据地图道路数据和模型预测轨迹,对车辆运动状态模型进行修正。将车辆位置观测数据、车辆监测数据以及车辆传感器数据等输入到车辆运动状态模型中,能够输出预测到的模型预测轨迹,进而,结合地图道路数据与模型预测轨迹的偏差对车辆运动状态模型进行修正,能够有效提升车辆运动状态模型的预测效果,提升预测准确率。


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    Title :

    Vehicle motion state model optimization method, equipment, device and storage medium


    Additional title:

    一种车辆运动状态模型优化方法、设备、装置及存储介质


    Contributors:
    ZHU YONG (author) / FANG SHAOWEI (author) / MENG YUE (author)

    Publication date :

    2023-09-01


    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung




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