The invention discloses an intelligent driving track prediction method, device and equipment and a storage medium, relates to the technical field of intelligent driving, and discloses an intelligent driving track prediction method which comprises the following steps: acquiring environment laser radar data, environment radar data and environment image data; converting the environment laser radar data, the environment radar data and the environment image data into aerial view features; performing feature alignment on the aerial view features based on a sensor field angle identifier to obtain multi-modal sensing features; determining a candidate trajectory according to the multi-modal sensing features; and determining a target trajectory from the candidate trajectories according to a target cost function to complete intelligent driving trajectory prediction. According to the scheme, the complex driving environment can be accurately understood in the intelligent driving process so as to predict the optimal driving track.
本申请公开了一种智能驾驶轨迹预测方法、装置、设备及存储介质,涉及智能驾驶技术领域,公开了智能驾驶轨迹预测方法,包括:获取环境激光雷达数据、环境雷达数据以及环境图像数据;将所述环境激光雷达数据、所述环境雷达数据以及所述环境图像数据转换为鸟瞰图特征;基于传感器视场角标识对所述鸟瞰图特征进行特征对齐,得到多模态感知特征;根据所述多模态感知特征确定候选轨迹;根据目标成本函数从所述候选轨迹中确定目标轨迹,以完成智能驾驶轨迹预测。本申请的方案可以在智能驾驶的过程中,准确地理解复杂的驾驶环境,以预测最优的行驶轨迹。
Intelligent driving track prediction method and device, equipment and storage medium
智能驾驶轨迹预测方法、装置、设备及存储介质
2025-03-25
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 / G06V |
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