The invention provides an obstacle trajectory prediction method and device, equipment, a storage medium and a program product, and the method comprises the steps: obtaining transverse decision probability distribution and longitudinal decision probability distribution of N obstacles and a first trajectory of a first vehicle, the transverse decision probability distribution comprises a probability corresponding to each transverse behavior, the longitudinal decision comprises a plurality of longitudinal behaviors, and the longitudinal decision probability distribution comprises a probability corresponding to each longitudinal behavior; predicting a second track of each obstacle for M times according to the transverse decision probability distribution and the longitudinal decision probability distribution; determining M cost values corresponding to the M track sets, wherein each track set comprises a first track and a second track of each obstacle; and determining a target trajectory set corresponding to the target cost value meeting a preset condition, wherein the target trajectory set is used for indicating trajectory prediction results of the N obstacles. According to the embodiment of the invention, the obstacle trajectory prediction can meet the accuracy requirement and the low calculation power requirement at the same time.

    本申请提供了一种障碍物轨迹预测方法、装置、设备、存储介质及程序产品,方法包括获取N个障碍物的横向决策概率分布和纵向决策概率分布以及第一车辆的第一轨迹,横向决策包括多个横向行为,横向决策概率分布包括各横向行为对应的概率,纵向决策包括多个纵向行为,纵向决策概率分布包括各纵向行为对应的概率;根据横向决策概率分布和纵向决策概率分布预测M次各障碍物的第二轨迹;确定与M个轨迹集合对应的M个代价值,每个轨迹集合包括第一轨迹和一次各障碍物的第二轨迹;确定满足预设条件的目标代价值对应的目标轨迹集合,目标轨迹集合用于指示N个障碍物的轨迹预测结果。根据本申请实施例,障碍物轨迹预测可以同时满足准确性要求和低算力要求。


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    Title :

    Obstacle trajectory prediction method and device, equipment, storage medium and program product


    Additional title:

    障碍物轨迹预测方法、装置、设备、存储介质及程序产品


    Contributors:
    SHENG WEITIAN (author) / GAO YUNQU (author)

    Publication date :

    2024-04-16


    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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