The embodiment of the invention discloses an obstacle trajectory prediction method and device, equipment and a medium. The method comprises the steps that environment state information corresponding to a structured road, vehicle state information and an automatic driving trajectory of a target vehicle and obstacle state information of candidate obstacles are acquired; inputting the vehicle state information, the obstacle state information, the automatic driving track and the environment state information into a target prediction network model to determine a target obstacle and predict the motion track of the target obstacle; the target obstacle is obtained by screening candidate obstacles based on the obstacle danger level; and on the basis of the output of the target prediction network model, obtaining a target motion track corresponding to the target obstacle, thereby screening the candidate obstacles, obtaining the target obstacle having great influence on automatic driving, and only performing motion track prediction on the target obstacle, thereby ensuring that no influence is caused on the automatic driving, saving computing resources, and improving the efficiency of the automatic driving. And the motion trail prediction efficiency is improved.
本发明实施例公开了一种障碍物轨迹预测方法、装置、设备和介质,该方法包括:获取结构化道路对应的环境状态信息、目标车辆的车辆状态信息与自动驾驶轨迹以及候选障碍物的障碍物状态信息;将车辆状态信息、障碍物状态信息、自动驾驶轨迹和环境状态信息输入到目标预测网络模型中进行目标障碍物的确定和目标障碍物运动轨迹预测;目标障碍物是基于障碍物危险等级对候选障碍物进行筛选获得的;基于目标预测网络模型的输出,获得目标障碍物对应的目标运动轨迹,从而对候选障碍物进行筛选,获得对自动驾驶影响较大的目标障碍物,并仅对目标障碍物进行运动轨迹预测,进而保证不对自动驾驶造成影响的同时,节约计算资源,提高运动轨迹预测效率。
Obstacle trajectory prediction method, device, equipment and medium
一种障碍物轨迹预测方法、装置、设备和介质
2023-10-10
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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