The disclosure relates to the technical field of autonomous driving, and provides a method for predicting a vehicle trajectory, a control apparatus, a readable storage medium, and a vehicle, to solve the problem of how to effectively deal with existing highly complex traffic scenario interactions and difficulties in iterative planning and control processes. In the method, scenario interaction results of a traffic agent are obtained based on a static environment perception result and a traffic agent perception result of a vehicle at a current moment, an initial interaction scenario is obtained based on the scenario interaction results, interaction scenario simulation is performed based on the initial interaction scenario and an ego vehicle driving decision to determine an optimal interaction scenario evolution feature of the traffic agent, and an optimal driving trajectory of the vehicle is obtained based on the optimal interaction scenario evolution feature and a state of the vehicle. An optimal interaction scenario evolution process is selected from numerous interaction scenarios by comprehensively considering impact of the ego vehicle driving decision on an environment of the vehicle, thereby obtaining a more accurate optimal driving trajectory.
METHOD FOR OBTAINING VEHICLE TRAJECTORY, CONTROL APPARATUS, READABLE STORAGE MEDIUM, AND VEHICLE
VERFAHREN ZUM ERHALTEN EINER FAHRZEUGTRAJEKTORIE, STEUERUNGSVORRICHTUNG, LESBARES SPEICHERMEDIUM UND FAHRZEUG
PROCÉDÉ D'OBTENTION DE TRAJECTOIRE DE VÉHICULE, APPAREIL DE COMMANDE, SUPPORT D'INFORMATIONS LISIBLE ET VÉHICULE
2025-03-26
Patent
Electronic Resource
English
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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