The invention relates to the technical field of automatic driving, and relates to a vehicle lane changing track prediction method, device and equipment and a readable storage medium, and the method comprises the steps: obtaining a discrete data set which comprises the motion track points of at least two vehicles; processing the discrete data set by using an inflection point detection algorithm to obtain an inflection point set; dividing a discrete data set based on the inflection point set, and training the trajectory prediction model by using the divided discrete data set to obtain a trained trajectory prediction model; and according to the trained trajectory prediction model, predicting the lane changing trajectory of the target vehicle to obtain a prediction result, and the target vehicle is the vehicle needing lane changing currently, the invention provides a recognition method for judging the starting point and the ending point of the lane changing process by using the curvature of the discrete point set. Compared with the prior art in which a fixed course angle is adopted for identification, the method has a higher identification rate, so that the division effect of the lane changing stage is better, and the prediction accuracy of the trajectory prediction model is improved.

    本发明涉及自动驾驶技术领域,涉及一种车辆换道轨迹预测方法、装置、设备及可读存储介质,所述方法包括获取离散数据集,离散数据集包括至少两辆车辆的运动轨迹点;利用拐点检测算法对离散数据集进行处理,得到拐点集;基于拐点集划分离散数据集,并利用划分后的离散数据集对轨迹预测模型进行训练,得到训练后的轨迹预测模型;根据训练后的轨迹预测模型对目标车辆换道的轨迹进行预测,得到预测结果,目标车辆为当前需要换道的车辆,本发明提出了利用离散点集的曲率来判定换道过程起终点的识别方法,相较于现有技术采用固定的航向角进行识别具有更高的识别率,使换道阶段划分效果更好,从而提高轨迹预测模型预测的准确率。


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    Title :

    Vehicle lane changing trajectory prediction method, device and equipment and readable storage medium


    Additional title:

    一种车辆换道轨迹预测方法、装置、设备及可读存储介质


    Contributors:
    XIE QING (author) / QIN CHENG (author) / CHEN WEIGANG (author) / YUAN HUI (author) / ZHANG JIANHUA (author) / CHEN WENDOU (author) / WANG PEICHUAN (author) / LIU HOUPIAO (author) / DONG PENG (author) / OU ZHIYONG (author)

    Publication date :

    2025-01-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen




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