The embodiment of the invention discloses a non-motor vehicle retrograde traverse trajectory prediction method, device and equipment and a medium. According to the method, input information such as a planned track of a vehicle at a previous moment, motion state information of the vehicle at a current moment, motion state information of surrounding non-motor vehicles at the current moment, a rectangular bounding box size of the non-motor vehicles at the current moment, track information of the non-motor vehicles in a historical time domain, target lane information of the non-motor vehicles and the like is acquired; according to the method, whether the non-motor vehicle has a converse running crossing intention or not is judged, and then under the condition that the non-motor vehicle has the converse running crossing intention, the converse running crossing track of the non-motor vehicle is determined based on the motion state information of the non-motor vehicle at the current moment and the target lane information, so that converse running crossing intention recognition and track prediction of the non-motor vehicle are realized; the method does not need to depend on a machine learning or deep learning model to identify the retrograde crossing intention, can realize rapid and accurate prediction of the non-motor vehicle retrograde crossing trajectory, and improves the safety of interaction between the vehicle and the retrograde crossing non-motor vehicle.
本公开实施例公开了一种非机动车逆行横穿轨迹预测方法、装置、设备和介质,该方法通过获取车辆上一时刻的规划轨迹、车辆当前时刻的运动状态信息、周边的非机动车当前时刻的运动状态信息、非机动车当前时刻的矩形包围盒尺寸、非机动车在历史时间域的轨迹信息、非机动车的目标车道信息等输入信息,判断非机动车是否存在逆行横穿意图,进而在其存在逆行横穿意图的情况下,基于非机动车当前时刻的运动状态信息与目标车道信息,确定非机动车的逆行横穿轨迹,实现了非机动车逆行横穿意图识别以及轨迹预测,该方法无需依赖机器学习或深度学习模型识别逆行横穿意图,可实现非机动车逆行横穿轨迹的快速精准预测,改善车辆与逆行横穿非机动车交互时的安全性。
Non-motor vehicle retrograde traverse trajectory prediction method, device, equipment and medium
非机动车逆行横穿轨迹预测方法、装置、设备和介质
2024-11-01
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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