The invention provides a method, device and equipment for determining driving track data of a vehicle and a medium, and the method comprises the steps: determining a first state vector of the vehicle at each target moment based on the driving data of the vehicle, and determining a second state vector of a lane center line at each target moment based on a curvilinear equation of the lane center line, and determining the similarity between the driving track of the vehicle and the lane center line at each target moment, and determining the driving intention of the vehicle based on the similarity corresponding to the plurality of target moments. And according to the driving intention and the driving data of the vehicle at the current moment, determining first predicted driving track data of the vehicle in the prediction period, and according to the driving data of the vehicle at the current moment, determining second predicted driving track data of the vehicle in the prediction period, and performing fitting processing to obtain target driving track data of the vehicle. Based on the embodiment of the invention, the robustness of the target driving track data can be improved.

    本申请提供一种车辆的行驶轨迹数据的确定方法、装置、设备及介质,包括基于车辆的行驶数据确定各目标时刻时车辆的第一状态向量,以及基于车道中心线的曲线方程确定各目标时刻时车道中心线的第二状态向量,以确定各目标时刻时车辆的行驶轨迹与车道中心线的相似度,并基于多个目标时刻对应的相似度,确定车辆的行驶意图。根据行驶意图和当前时刻时车辆的行驶数据,确定预测周期内车辆的第一预测行驶轨迹数据,并根据当前时刻时车辆的行驶数据,确定预测周期内车辆的第二预测行驶轨迹数据来进行拟合处理,得到车辆的目标行驶轨迹数据。基于本申请实施例,可以提高目标行驶轨迹数据的鲁棒性。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle driving track data determination method and device, equipment and medium


    Additional title:

    一种车辆行驶轨迹数据的确定方法、装置、设备及介质


    Contributors:
    BIAN LINA (author)

    Publication date :

    2023-10-03


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



    Vehicle driving track determination method, computer equipment, storage medium and vehicle

    FAN HAOYANG / QIN HAILONG / REN SHAOQING et al. | European Patent Office | 2023

    Free access

    Driving track determination method and device, computer equipment and storage medium

    CAO YUNTAO / LYU YING / DONG XIAOYU et al. | European Patent Office | 2024

    Free access

    Driving track application method and device, equipment, storage medium and vehicle

    WANG WANLIN / SUN ENZE / SI SHENGYING et al. | European Patent Office | 2021

    Free access

    Vehicle driving track planning method, device and equipment and storage medium

    CHEN XIAOCHANG / ZHU WEIWEN | European Patent Office | 2024

    Free access

    Vehicle driving track planning method, storage medium, electronic equipment and vehicle

    MEI YUANYUAN / YANG DONGSHENG / LIU KE et al. | European Patent Office | 2024

    Free access