The invention relates to the technical field of automatic driving, in particular to a vehicle track prediction method, a control device, a readable storage medium and a vehicle, and aims to solve the problem of how to effectively cope with existing high-complexity traffic scene interaction and difficult iteration in a planning control process. In order to achieve the purpose, the method comprises the steps of obtaining a scene interaction result of a current traffic participant according to a static environment sensing result of a vehicle and a traffic participant sensing result at the current moment, and obtaining an initial interaction scene according to the scene interaction result; performing interaction scene deduction according to the initial interaction scene and the self-vehicle driving decision to determine the optimal interaction scene evolution characteristics of the traffic participants, obtaining the optimal driving track of the vehicle according to the optimal interaction scene evolution characteristics and the state of the vehicle, and comprehensively considering the influence of the self-vehicle driving decision on the environment where the vehicle is located. The optimal interaction scene evolution process is selected from numerous interaction scenes, and a more accurate optimal driving track is obtained.
本发明涉及自动驾驶技术领域,具体提供一种车辆轨迹预测方法、控制装置、可读存储介质及车辆,旨在解决如何有效应对现有的高复杂度的交通场景交互以及规划控制过程迭代困难的问题。为此目的,本发明根据当前时刻车辆的静态环境感知结果和交通参与者感知结果,获取当交通参与者的场景交互结果,根据场景交互结果获取初始的交互场景,根据初始的交互场景和自车驾驶决策进行交互场景推演来确定交通参与者的最优交互场景演变特征,根据最优交互场景演变特征和车辆的状态,获取车辆的最优行驶轨迹,综合考虑自车驾驶决策对车辆所处环境的影响,从众多交互场景中选取出最优的交互场景演变过程,获得更为精确的最优行驶轨迹。
Vehicle trajectory prediction method, control device, readable storage medium and vehicle
车辆轨迹预测方法、控制装置、可读存储介质及车辆
2023-12-12
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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