The embodiment of the invention discloses a prediction trajectory generation method and device and a vehicle. The method comprises the following steps: acquiring current state information and a reference driving track of a target vehicle; based on the starting point position, the starting point speed, the starting point acceleration, the starting point course angle and the reference driving track, obtaining a first prediction track; extending the first prediction trajectory to obtain a second prediction trajectory; and generating a predicted trajectory of the target vehicle based on the first predicted trajectory and the second predicted trajectory. By means of the mode, the first prediction track composed of the multiple sections of arc curves can be obtained based on the current state information of the target vehicle and the reference driving track, the first prediction track is extended, the second prediction track parallel to the tangential direction of the reference driving track is obtained, and therefore the accurate prediction track can be obtained; and the driving safety is improved.
本申请实施例公开了一种预测轨迹生成方法、装置以及车辆。所述方法包括:获取目标车辆当前的状态信息和参考行驶轨迹;基于所述起点位置、所述起点速度、所述起点加速度、所述起点航向角和所述参考行驶轨迹,得到第一预测轨迹;对所述第一预测轨迹进行延伸,得到第二预测轨迹;基于所述第一预测轨迹和所述第二预测轨迹生成所述目标车辆的预测轨迹。通过上述方式使得,可以基于目标车辆当前的状态信息和参考行驶轨迹,得到由多段圆弧曲线组成的第一预测轨迹,并对第一预测轨迹进行延伸,得到与参考行驶轨迹切线方向平行的第二预测轨迹,从而可以得到准确的预测轨迹,提高了驾驶安全性。
Prediction trajectory generation method and device and vehicle
预测轨迹生成方法、装置以及车辆
2024-08-06
Patent
Electronic Resource
Chinese
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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