The invention provides an obstacle trajectory prediction method and device, and the method comprises the steps: carrying out the feature extraction of vehicle perception data, and obtaining the global feature information under a Cartesian coordinate system; determining a reference line according to the global feature information, converting from a Cartesian coordinate system to a Frenet coordinate system, and then converting to an agent coordinate system to obtain second feature information under the agent coordinate system; according to a pre-constructed trajectory prediction model and the second feature information, obstacle future trajectory prediction is carried out, and future trajectory information is obtained; and converting the future trajectory information from the agent coordinate system to a Cartesian coordinate system to obtain target future trajectory information under the Cartesian coordinate system. According to the method and the device, the curve data can be converted into the straightway through Frenet coordinate system conversion, the difference of maps in a scene is eliminated, then track prediction is performed through the track prediction model, the accuracy is high, meanwhile, the curve prediction accuracy is also improved, and the automatic driving experience is improved.
本申请提供一种障碍物轨迹预测方法及装置,该方法包括:对车辆感知数据进行特征提取,得到笛卡尔坐标系下的全局特征信息;根据全局特征信息确定参考线,并从笛卡尔坐标系转换至Frenet坐标系,再转换至agent坐标系,得到agent坐标系下的第二特征信息;根据预构建的轨迹预测模型和第二特征信息进行障碍物未来轨迹预测,得到未来轨迹信息;将未来轨迹信息从agent坐标系转换至笛卡尔坐标系,得到笛卡尔坐标系下的目标未来轨迹信息。该方法及装置能够通过Frenet坐标系转换将弯道数据转化为直道,消除场景中地图的差异,再通过轨迹预测模型进行轨迹预测,准确性高,同时也提升了弯道预测得准确性,提升了自动驾驶体验。
Obstacle trajectory prediction method and device
一种障碍物轨迹预测方法及装置
2025-02-14
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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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