A method for prediction of a trajectory of a target traffic participant near an ego vehicle, comprising: a data collection step(I), obtain data regarding an actual trajectory of the traffic participant the trajectory is classified either straight or curved; trajectory prediction step(II), determining a validated predicted trajectory of the traffic participant by selecting between a straight predicted trajectory corresponding to the straight actual trajectory and a curved predicted trajectory corresponding to the curved actual trajectory and a feedback step(III) of comparing the straight predicted trajectory and the curved predicted trajectory with the actual trajectory of the current sequence and determining a confidence weight corresponding to either of them. Applying confidence weights; trajectory curvature condition and a trajectory curvature weight to the straight predicted trajectory if the actual trajectory is straight, or to the curved predicted trajectory if the actual trajectory is curved; determining total weights for each predicted trajectory by adding the respective confidence weight to the trajectory curvature weight. If two total weights are not equal, the predicted trajectory is the one with the greatest total weight. If two total weights are equal, the predicted trajectory is one having the smallest time to collision.
Method of prediction of the trajectory, computer program, computer readable medium, and data stream
2022-09-14
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 |
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