The invention relates to the technical field of automatic driving, and discloses a vehicle driving track prediction method, device, equipment, medium and product, and the method comprises the steps: selecting a driving track starting point, traversing a lane section having a corresponding subsequent relationship with the driving track starting point in a lane center line where the driving track starting point is located, and predicting the driving track. According to the method, at least one reference driving track is formed according to the driving track starting point and all the lane center lines having the corresponding subsequent relation with the lane center line where the driving track starting point is located, and the reference driving track and the motion state of the to-be-predicted vehicle are input into the driving track prediction model to obtain the driving track, so that the predicted track can well conform to the lane trend. And the condition of deviating from the lane center line is avoided.
本发明涉及自动驾驶技术领域,公开了一种车辆行驶轨迹预测方法、装置、设备、介质及产品,本发明通过选取行驶轨迹起始点,遍历行驶轨迹起始点所在车道中心线中与行驶轨迹起始点有对应后继关系的车道段,以及与行驶轨迹起始点所在车道中心线有对应后继关系的所有车道中心线,组成至少一条参考行驶轨迹,将参考行驶轨迹和待预测车辆的运动状态输入到行驶轨迹预测模型中得到行驶轨迹,使得预测的轨迹可以很好的符合车道趋势,不会出现偏出车道中心线的情况。
Vehicle driving track prediction method, device, equipment, medium and product
一种车辆行驶轨迹预测方法、装置、设备、介质及产品
2024-10-18
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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