The invention provides a small target trajectory prediction method and device under an unstructured road, and a medium. The method comprises the following steps: determining a prediction object; reasoning the expected intention of the prediction object; determining the current speed and position of the predicted object, and determining the last-state speed and last-state position interval of the predicted object; according to the final state speed, in the final state position interval, the final state of the prediction object is collected according to a preset sampling period; generating a track cluster according to the collected end state and the current speed and position of the prediction object; and taking the trajectory with the minimum cost in the trajectory cluster as the prediction trajectory of the prediction object. According to the method, the expected intention of the prediction object is deduced firstly, then the end state of the prediction object is collected based on the expected intention, and finally the trajectory with the minimum cost is used as the prediction trajectory of the prediction object according to the end state and the current speed and position of the prediction object. Due to the fact that the behavior intention of the unstructured road features is considered, the trajectory prediction problem of small targets such as pedestrians and non-motor vehicles can be solved.
本申请提供一种非结构化道路下小目标轨迹预测方法、设备、介质,该方法包括:确定预测对象;推理预测对象的期望意图;确定预测对象当前的速度和位置,并确定预测对象的末态速度和末态位置区间;根据末态速度,在末态位置区间内,按预设采样周期采集预测对象的末状态;根据采集的末状态以及预测对象当前的速度和位置,生成轨迹簇;将轨迹簇中代价最小的轨迹作为预测对象的预测轨迹。本申请先推理预测对象的期望意图,再基于期望意图采集预测对象的末状态,最后根据末状态以及预测对象当前的速度和位置,将代价最小的轨迹作为预测对象的预测轨迹,由于考虑了非结构化道路特征的行为意图可以解决行人、非机动车等小目标的轨迹预测难题。
Small target trajectory prediction method and device under unstructured road, and medium
非结构化道路下小目标轨迹预测方法、设备、介质
2024-04-05
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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