The invention provides a vehicle trajectory prediction method and device, equipment and a storage medium. The method comprises the following steps: searching an associated lane where a target vehicle can run from a current lane, and constructing at least one candidate track of the target vehicle; predicting a reference trajectory of the target vehicle by using the historical driving information of the target vehicle; and determining a future driving track of the target vehicle from the candidate tracks by using the reference track. In any road section scene, reasonable prediction of the future driving track of the target vehicle can be realized through the current lane and the historical driving information of the target vehicle, the road test data size in any road section scene does not need to be considered, and the comprehensive applicability of vehicle track prediction in different road section scenes is ensured. Moreover, through the specific calculation process of the related driving data of the target vehicle, the vehicle trajectory prediction has certain interpretability on the basis of ensuring the accuracy of the vehicle trajectory prediction.
本公开提供了一种车辆轨迹预测的方法、装置、设备及存储介质。该方法包括:对目标车辆从当前所处车道可行驶到达的关联车道进行搜索,构建目标车辆的至少一个候选轨迹;利用目标车辆的历史行驶信息,预测目标车辆的参考轨迹;利用所述参考轨迹,从各候选轨迹中确定目标车辆的未来行驶轨迹。本公开在任一路段场景下,通过目标车辆的当前所处车道和历史行驶信息,就可以实现对目标车辆未来行驶轨迹的合理预测,无需考虑任一路段场景下的路测数据量大小,确保车辆轨迹预测在不同路段场景下的全面适用性。而且,通过目标车辆的相关行驶数据的具体计算流程,在保证车辆轨迹预测准确性的基础上,使得车辆轨迹预测存在一定的可解释性。
Vehicle trajectory prediction method, device and equipment and storage medium
一种车辆轨迹预测的方法、装置、设备及存储介质
2023-12-22
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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