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Obstacle trajectory prediction method and device, electronic equipment and storage medium

A trajectory prediction and obstacle technology, applied in the field of vehicles, can solve the problems of not considering the relationship between obstacles and lanes, poor prediction accuracy, unreasonable prediction results, etc., to achieve the effect of improving accuracy and interpretability

Pending Publication Date: 2022-03-22
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The existing trajectory prediction method is based on the historical trajectory of obstacles to predict the trajectory in the future, which has the problem of poor prediction accuracy, and because the relationship between obstacles and lanes is not considered, the prediction results will also be unreasonable The problem

Method used

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  • Obstacle trajectory prediction method and device, electronic equipment and storage medium
  • Obstacle trajectory prediction method and device, electronic equipment and storage medium
  • Obstacle trajectory prediction method and device, electronic equipment and storage medium

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Embodiment 1

[0030] figure 1 It is a schematic flowchart of a method for predicting obstacle trajectories provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where the future trajectories of surrounding obstacles are predicted during vehicle driving. The trajectory prediction device can be implemented by means of software and / or hardware, and the hardware can be electronic equipment. Optionally, the electronic equipment can be a mobile terminal, a vehicle-mounted terminal, and the like.

[0031] Such as figure 1 As described, the method of this embodiment specifically includes the following steps:

[0032] S110. Determine the obstacle location information of at least one obstacle according to the reference location information of the target vehicle, and convert the vehicle-mounted high-precision map, the reference location information, and the obstacle location information into a Fleiner coordinate system.

[0033] Wherein, the target vehicle...

Embodiment 2

[0046] figure 2 It is a schematic flowchart of an obstacle track prediction method provided by Embodiment 2 of the present invention. On the basis of the above-mentioned embodiments, this embodiment focuses on the determination method of obstacle position information, the determination method of obstacle lane attributes, the second For the method of determining a probability and the method of determining the target lane-changing probability, refer to the technical solution of this embodiment. Wherein, explanations of terms that are the same as or corresponding to the above embodiments are not repeated here.

[0047] Such as figure 2 As described, the method of this embodiment specifically includes the following steps:

[0048] S210. Acquire the reference position information of the target vehicle based on the positioning system, and determine the relative position information of at least one obstacle and the target vehicle based on the vehicle-mounted sensor of the target ...

Embodiment 3

[0129] Figure 5 It is a schematic structural diagram of an obstacle trajectory prediction device provided in Embodiment 3 of the present invention, which includes: a coordinate conversion module 310 , a lane attribute determination module 320 , a probability determination module 330 and a prediction module 340 .

[0130] Wherein, the coordinate conversion module 310 is used to determine the obstacle position information of at least one obstacle according to the reference position information of the target vehicle, and convert the vehicle-mounted high-precision map, the reference position information and the obstacle position information to Freiner In the coordinate system; the lane attribute determination module 320 is used to determine the lane attributes of each obstacle according to the obstacle position information in the Fleiner coordinate system and the vehicle-mounted high-precision map; the probability determination module 330 is used for each Obstacles, based on the ...

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Abstract

The embodiment of the invention discloses an obstacle trajectory prediction method and device, electronic equipment and a storage medium, and the method comprises the steps: determining the obstacle position information of at least one obstacle according to the reference position information of a target vehicle, and converting a vehicle-mounted high-precision map, the reference position information and the obstacle position information into a Frenet coordinate system; determining the lane attribute of each obstacle according to the position information of each obstacle and a vehicle-mounted high-precision map; fitting based on the historical track of the obstacle, the obstacle movement speed and the lane attribute of the obstacle to obtain a first probability, and processing the obstacle position information, the obstacle movement speed and the lane attribute to determine a second probability based on a pre-trained track prediction model; and determining a target lane changing probability based on the first probability and the second probability, and predicting a target trajectory and a target movement speed of the obstacle according to the lane attribute, the obstacle position information, the obstacle movement speed and the target lane changing probability. The embodiment of the invention realizes the effect of improving the obstacle trajectory prediction accuracy.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of vehicles, and in particular, to a method, device, electronic equipment, and storage medium for predicting obstacle trajectories. Background technique [0002] Trajectory prediction is an important part of unmanned driving technology. Only by accurately predicting the trajectory of obstacles around the unmanned vehicle can it guide the unmanned vehicle for route planning more accurately and safely. [0003] The existing trajectory prediction method is based on the historical trajectory of obstacles to predict the trajectory in the future, which has the problem of poor prediction accuracy, and because the relationship between obstacles and lanes is not considered, the prediction results will also be unreasonable The problem. Contents of the invention [0004] Embodiments of the present invention provide an obstacle trajectory prediction method, device, electronic equipment and s...

Claims

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Application Information

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IPC IPC(8): B60W60/00B60W30/095
CPCB60W60/0027B60W30/095
Inventor 尚秉旭李宇寂陈志新王洪峰刘洋许朝文张勇何柳
Owner CHINA FIRST AUTOMOBILE
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