The invention discloses a fusion prediction method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring lane lines and vehicle type obstacle information around a host vehicle, and position and attitude information of the host vehicle; constructing a vehicle coordinate system of the host vehicle according to the position and attitude information of the host vehicle; according to the lane line and the vehicle type obstacle information, determining a maneuvering trajectory of the vehicle type obstacle in a predetermined time range, converting the maneuvering trajectory to a vehicle coordinate system by using a predetermined method, and predicting the maneuvering trajectory of the vehicle type obstacle; according to the vehicle type obstacle information, a kinematics method is adopted to calculate the motion trail of the vehicle type obstacle in a preset time range, the motion trail is converted to a vehicle coordinate system, and the motion trail of the vehicle type obstacle is predicted; and fusing the maneuvering track and the motion track by adopting a predetermined fusion method to obtain a driving track of the vehicle type obstacle. In this way, the process of predicting the driving track of the vehicle type obstacle is simple, and the calculation time is short.
本申请公开一种融合预测方法及其装置、计算机设备和存储介质。该方法包括获取主车辆周边的车道线和车类型障碍物信息,及主车辆的自身位置和姿态信息;根据自身位置和姿态信息构建主车辆的车辆坐标系;根据车道线和车类型障碍物信息,确定车类型障碍物在预定时间范围内的机动轨迹,并采用预定方法将机动轨迹转换至车辆坐标系,预测车类型障碍物的机动轨迹;根据车类型障碍物信息,采用运动学方法计算车类型障碍物在预定时间范围内的运动轨迹,并将运动轨迹转换至车辆坐标系,预测车类型障碍物的运动轨迹;采用预定融合方法将机动轨迹和运动轨迹融合得到车类型障碍物的行驶轨迹。如此,本申请预测车类型障碍物的行驶轨迹过程简单,计算时间较短。
Fusion prediction method and device, computer equipment and storage medium
融合预测方法及其装置、计算机设备和存储介质
2024-08-06
Patent
Electronic Resource
Chinese
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