The invention discloses a driving track generation method and device of an obstacle, a storage medium and electronic equipment, and the method comprises the steps: screening a plurality of driving intentions corresponding to the obstacle, and obtaining a target driving intention corresponding to the obstacle and a first prediction probability of the target driving intention; generating a longitudinal movement track of the obstacle according to a longitudinal quartic polynomial mode, and generating a transverse movement track of the obstacle according to a target mode determined based on the position relation; performing trajectory fusion processing on the longitudinal motion trajectory and the transverse motion trajectory to obtain a target prediction trajectory of the obstacle; adjusting the first prediction probability to obtain an adjusted second prediction probability; and determining the target prediction trajectory as a driving trajectory of the obstacle relative to the vehicle, which occurs at the second prediction probability in a period of time in the future. According to the invention, the technical problem of low generation efficiency of the driving track of the obstacle in the prior art is solved.

    本申请公开了一种障碍物的行驶轨迹生成方法、装置和存储介质及电子设备,该方法包括:对障碍物对应的多个行驶意图进行筛选,得到障碍物对应的目标行驶意图和目标行驶意图的第一预测概率;按照纵向四次多项式方式生成障碍物的纵向运动轨迹,以及按照基于位置关系确定的目标方式,生成障碍物的横向运动轨迹;将纵向运动轨迹和横向运动轨迹进行轨迹融合处理,得到障碍物的目标预测轨迹;对第一预测概率进行调整,得到调整后的第二预测概率;将目标预测轨迹确定为障碍物在未来一段时间,以第二预测概率发生的相对自车的行驶轨迹。本申请解决了相关技术中障碍物的行驶轨迹生成效率较低的技术问题。


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    Title :

    Obstacle driving track generation method and device, storage medium and electronic equipment


    Additional title:

    障碍物的行驶轨迹生成方法、装置和存储介质及电子设备


    Contributors:
    DING SHAOBING (author) / ZHU KEYIN (author) / LIU ZIHAO (author) / WANG JIE (author) / LI BOXUAN (author) / WANG QIANG (author)

    Publication date :

    2024-05-03


    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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