The invention relates to the technical field of vehicle control, in particular to a trajectory prediction method, a vehicle, equipment and a program product. The method comprises the steps that a first track point set of the advancing track of a tractor is obtained, initial trailer track points of the trailer are obtained, the tractor drives the trailer to move through a movably-connected hinge point, the first track point set comprises at least one traction track point through which the tractor sequentially passes when the tractor advances, and the first track point set comprises at least one traction track point through which the tractor sequentially passes when the tractor advances; when the tractor is located at the initial traction track point, the trailer is located at the initial traction track point; on the basis of the first track point set and the initial towing track points, predicting corresponding predicted towing track points when the tractor passes through each traction track point in sequence; and based on the predicted trailer trajectory point, obtaining a predicted travel trajectory of the trailer. According to the invention, the predicted traveling track of the trailer can be intelligently derived, and the safety of the process that the tractor drives the trailer to travel is improved.
本申请涉及车辆控制技术领域,具体涉及一种轨迹预测方法、车辆、设备及程序产品。方法包括:获取牵引车行进轨迹的第一轨迹点集合,以及获取拖挂车的初始拖挂轨迹点,其中,牵引车通过一个活动连接的铰接点带动拖挂车运动,第一轨迹点集合包括牵引车行进时依次经过的至少一个牵引轨迹点,牵引车位于初始牵引轨迹点时拖挂车位于初始拖挂轨迹点;基于第一轨迹点集合和初始拖挂轨迹点,依次预测牵引车经过每一个牵引轨迹点时分别对应的预测拖挂轨迹点;基于预测拖挂轨迹点,获取拖挂车的预测行进轨迹。本申请能够智能化推导拖挂车的预测行进轨迹,提升牵引车带动拖挂车行进过程的安全性。
Trajectory prediction method, vehicle, device and program product
轨迹预测方法、车辆、设备及程序产品
2024-10-29
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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