The invention discloses a self-vehicle prediction trajectory prediction method and device, electronic equipment and a storage medium, and relates to the technical field of automatic driving. The method comprises the following steps: determining a current trajectory point of a vehicle prediction trajectory; calculating a first coefficient, a second coefficient, a third coefficient and a fourth coefficient of the current track point; the third-order Bezier curve initial formula is updated, and a third-order Bezier curve prediction formula of the current track point is obtained; determining the target position of the target track point according to the fourth coefficient; according to a preset time interval and a third-order Bezier curve prediction formula, calculating a target speed and a target acceleration of the target trajectory point; and updating the target trajectory points as the current trajectory points, returning to the step of calculating the first coefficient, the second coefficient, the third coefficient and the fourth coefficient corresponding to the current trajectory points until the number of the target trajectory points reaches the preset trajectory point number, and generating a self-vehicle prediction trajectory according to each target trajectory point. According to the technical scheme of the embodiment of the invention, the accuracy of the self-vehicle prediction trajectory can be improved.

    本发明公开了一种自车预测轨迹预测方法、装置、电子设备及存储介质,涉及自动驾驶技术领域。该方法包括:确定自车预测轨迹的当前轨迹点;计算当前轨迹点的第一系数、第二系数、第三系数和第四系数;对三阶Bezier曲线初始公式进行更新,得到当前轨迹点的三阶Bezier曲线预测公式;根据第四系数,确定目标轨迹点的目标位置;根据预设时间间隔和三阶Bezier曲线预测公式,计算目标轨迹点的目标速度和目标加速度;将目标轨迹点更新为当前轨迹点,返回计算当前轨迹点对应的第一系数、第二系数、第三系数和第四系数的步骤,直至目标轨迹点的数量达到预设轨迹点数量,根据各目标轨迹点,生成自车预测轨迹。本发明实施例的技术方案可以提高自车预测轨迹的准确度。


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    Title :

    Self-vehicle prediction trajectory prediction method and device, electronic equipment and storage medium


    Additional title:

    自车预测轨迹预测方法、装置、电子设备及存储介质


    Contributors:
    YU XIAOZHOU (author) / LI HAIBING (author) / QU BAIXUE (author) / LI CAIWEI (author) / YANG HANG (author) / YANG BAIYU (author)

    Publication date :

    2025-01-07


    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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