The invention discloses a pedestrian trajectory prediction method and device, a vehicle control method and device, equipment and a medium, and relates to the field of automatic driving, and the method comprises the steps: obtaining pedestrian data, vehicle data and environment data collected by a camera, and removing irregular trajectory data in the pedestrian data based on a preset data processing mechanism; calculating the pedestrian data, the vehicle data and the environment data after elimination according to a target classification algorithm so as to predict a target position of the target pedestrian; and calculating the target position by using target position attraction, inter-pedestrian repulsive force and environmental repulsive force determined based on a result output by the target model so as to predict a target trajectory of the target pedestrian reaching the target position. Therefore, the target position of the pedestrian is predicted based on the pedestrian data after elimination, the prediction precision is improved, the target position attraction, the inter-pedestrian repulsive force and the environmental repulsive force are introduced, the possibility of intersection of pedestrians and pedestrians and the possibility of intersection of pedestrians and obstacles are reduced, and the prediction trajectory is more real.

    本申请公开了一种行人轨迹预测方法、车辆控制方法、装置、设备及介质,涉及自动驾驶领域,包括:获取摄像头采集的行人数据、车辆数据和环境数据,并基于预设的数据处理机制将行人数据中的不规则轨迹数据剔除;根据目标分类算法对剔除后行人数据、车辆数据和环境数据进行计算,以预测得到目标行人的目标位置;利用基于目标模型输出的结果确定的目标位置吸引力、行人间斥力和环境斥力对目标位置进行计算,以预测得到目标行人到达目标位置的目标轨迹。可见,本申请基于剔除后行人数据预测行人的目标位置,提高了预测精度,并引入目标位置吸引力、行人间斥力和环境斥力,减少了行人与行人、行人与障碍物交叉的可能,使得预测轨迹更加真实。


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    Title :

    Pedestrian trajectory prediction method, vehicle control method, device, equipment and medium


    Additional title:

    行人轨迹预测方法、车辆控制方法、装置、设备及介质


    Contributors:
    XU TIANYU (author) / LIU JIAQI (author) / HAN JIN (author) / LU YUKUN (author)

    Publication date :

    2024-01-12


    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



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