Examples of the present disclosure describe a method, an apparatus, and a vehicle for trajectory prediction. The method comprises obtaining sensor data for an object surrounding a vehicle from at least one sensor installed on the vehicle (502); feeding the obtained sensor data into a hybrid predictor consisting of a plurality of predictors each with a weight assigned by the hybrid predictor, wherein the plurality of predictors comprise at least a free space predictor and a roadmodel-based predictor (504); for a current time instant, each of the plurality of predictors giving its own predictions for a predetermined period of time from the current time instant based on historical sensor data from the at least one sensor (506); the hybrid predictor determining a reliability of each one of the plurality of predictors (508); the hybrid predictor outputting weighted hybrid predictions for the predetermined period of time from the current time instant based on the respective predictions given by each of the plurality of predictors and the reliability of each one of the plurality of predictors, with assigning a greater weight to the predictor that gave a better prediction in the previous one or more time instants (510); and providing a predicted trajectory based on the weighted hybrid predictions (512).
TRAJECTORY PREDICTION FOR DRIVING STRATEGY
TRAJEKTIEVORHERSAGE FÜR FAHRSTRATEGIE
PRÉDICTION DE TRAJECTOIRE SERVANT À UNE STRATÉGIE DE CONDUITE
2022-12-21
Patent
Electronic Resource
English
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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