The invention discloses a trajectory prediction method and apparatus, and an Internet of Vehicles device, and relates to the technical field of Internet of Vehicles, the method comprises the steps of receiving a first message sent by at least one second Internet of Vehicles device, the first message comprising a historical trajectory point set of a second vehicle associated with the second Internet of Vehicles device; according to the at least one historical track point set, the position of a target intersection closest to a first vehicle is determined, and the first vehicle is associated with a first vehicle networking device; when the steering lamp of the first vehicle changes, a target trajectory prediction method is selected according to the course angle of the first vehicle and the distance between the first vehicle and the target intersection, and the target trajectory prediction method comprises a trajectory prediction method based on a kinematic model or a trajectory prediction method based on an optimal historical trajectory of a second vehicle; and performing trajectory prediction on the first vehicle by using a target trajectory prediction method. Therefore, real-time and accurate prediction of the vehicle driving track in a map-free mode is realized.
本申请公开了一种轨迹预测方法、装置及车联网设备,涉及车联网技术领域,该方法包括:接收至少一个第二车联网设备发送的第一消息,第一消息包括第二车联网设备关联的第二车辆的历史轨迹点集合;根据至少一个历史轨迹点集合,确定距离第一车辆最近的目标路口的位置,第一车辆与第一车联网设备关联;在第一车辆的转向灯发生变化时,根据第一车辆的航向角和第一车辆与目标路口之间的距离,选择目标轨迹预测方法,目标轨迹预测方法包括基于运动学模型的轨迹预测方法或基于最优第二车辆的历史轨迹的轨迹预测方法;利用目标轨迹预测方法,对所述第一车辆进行轨迹预测。如此,实现了在无地图模式下对车辆行驶轨迹进行实时且准确的预测。
Trajectory prediction method and device and Internet of Vehicles equipment
一种轨迹预测方法、装置及车联网设备
2024-04-09
Patent
Electronic Resource
Chinese
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