The invention provides a trajectory prediction method, a vehicle, computer equipment and a program product applied to the technical field of automatic driving, and the method comprises the steps: when it is detected that a vehicle and a target obstacle vehicle are located at an intersection, obtaining a trajectory prediction result; determining a connection line direction of each target virtual lane connection line and a target distance between each target virtual lane connection line and the target obstacle vehicle; screening out a matched lane connection line matched with the target obstacle vehicle from the target virtual lane connection lines according to the connection line direction and the target distance corresponding to the target virtual lane connection lines; and determining a predicted trajectory of the target obstacle vehicle according to the vehicle information of the target obstacle vehicle, the road environment information and the matched lane connection line. The problem of inaccurate trajectory prediction of the obstacle vehicles around the vehicle at the intersection can be solved, trajectory prediction is performed by using multi-dimensional information such as the connecting line direction and the target distance, and the prediction accuracy of the driving trajectory of the obstacle vehicles in the intersection scene can be improved.

    本公开提供了一种应用于自动驾驶技术领域的轨迹预测方法、车辆、计算机设备和程序产品,其中,该方法包括:在检测到自车和目标障碍车辆位于路口的情况下,确定每条目标虚拟车道连线的连线方向、以及每条目标虚拟车道连线与目标障碍车辆之间的目标距离;根据目标虚拟车道连线对应的连线方向和目标距离,从各条目标虚拟车道连线中,筛选出与目标障碍车辆匹配的匹配车道连线;根据目标障碍车辆的车辆信息、道路环境信息和匹配车道连线,确定目标障碍车辆的预测轨迹。本公开能够解决路口处自车周围障碍车辆的轨迹预测不准确的问题,通过使用连线方向和目标距离等多维度信息进行轨迹预测,可以提高路口场景下障碍车辆行驶轨迹的预测准确性。


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    Title :

    Trajectory prediction method, vehicle, computer equipment and program product


    Additional title:

    一种轨迹预测方法、车辆、计算机设备和程序产品


    Contributors:

    Publication date :

    2024-12-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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