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Trajectory prediction method, device, equipment and computer-readable storage medium

A trajectory prediction and prediction model technology, which is applied to road network navigators and other directions, can solve problems such as inaccurate prediction of obstacles and vehicles, and achieve the effect of improving safety and accuracy

Active Publication Date: 2021-06-29
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide a trajectory prediction method, device, device, and computer-readable storage medium to solve the problem that the existing obstacle vehicle trajectory prediction method is inaccurate in predicting the obstacle vehicle trajectory

Method used

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  • Trajectory prediction method, device, equipment and computer-readable storage medium
  • Trajectory prediction method, device, equipment and computer-readable storage medium

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Experimental program
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Embodiment 1

[0030] figure 1 It is a flow chart of the trajectory prediction method provided by Embodiment 1 of the present invention. The embodiment of the present invention provides a trajectory prediction method for the problem that the existing obstacle vehicle trajectory prediction method is inaccurate in predicting the obstacle vehicle trajectory.

[0031] The method in this embodiment is applied to a terminal device, and the terminal device may be a vehicle-mounted terminal. In other embodiments, the method may also be applied to other devices. This embodiment uses a vehicle-mounted terminal as an example for schematic illustration. Such as figure 1 As shown, the specific steps of the method are as follows:

[0032] Step S101. Obtain the environmental data at the first moment. The environmental data at least include: the speed and shape parameters of the obstacle vehicle within the preset range, the speed and shape parameters of the own vehicle, and the distance between any two ve...

Embodiment 2

[0045] figure 2 It is a flow chart of the trajectory prediction method provided in Embodiment 2 of the present invention; image 3 It is a schematic structural diagram of the acceleration prediction model provided by Embodiment 2 of the present invention. On the basis of the first embodiment above, in this embodiment, according to the environmental data, using the acceleration prediction model, before calculating the acceleration of the obstacle vehicle at the first moment, it also includes: using the training set to model the preset neural network model Training to get the acceleration prediction model. Such as figure 2 As shown, the specific steps of the method are as follows:

[0046] Step S201, acquiring a training set.

[0047] Wherein, the training set includes multiple pieces of training data, each piece of training data includes the real environment data at the first historical moment, and the acceleration of the vehicle in the real environment data at the second...

Embodiment 3

[0077] Figure 4 It is a schematic structural diagram of a trajectory prediction device provided in Embodiment 3 of the present invention. The trajectory prediction device provided in the embodiment of the present invention can execute the processing flow provided in the embodiment of the trajectory prediction method. Such as Figure 4 As shown, the trajectory prediction device 30 includes: an environment data acquisition module 301 , an acceleration calculation module 302 and a position calculation module 303 .

[0078] Specifically, the environmental data acquisition module 301 is used to acquire the environmental data at the first moment, the environmental data at least includes: the speed and shape parameters of the obstacle vehicle within the preset range, the speed and shape parameters of the own vehicle, and the preset range The distance between any two vehicles in .

[0079] The acceleration calculation module 302 is configured to calculate the acceleration of the o...

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Abstract

Embodiments of the present invention provide a trajectory prediction method, device, device, and computer-readable storage medium. The method of the embodiment of the present invention includes: acquiring environmental data at the first moment, and using the acceleration prediction model to calculate obstacle vehicles according to the environmental data Acceleration at the first moment; according to the acceleration, speed and position of the obstacle vehicle at the first moment, calculate the position of the obstacle vehicle at the second moment; it is not the obstacle vehicle as a uniform moving object, nor the obstacle The vehicle is a stationary object, but by using the acceleration prediction model based on the environmental data at the first moment, the acceleration of the obstacle vehicle at the first moment is calculated; according to the acceleration, speed and position of the obstacle vehicle at the first moment, the obstacle is calculated The position of the vehicle at the second moment improves the accuracy of obstacle vehicle trajectory prediction and improves the safety of unmanned vehicles.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of unmanned driving, and in particular to a trajectory prediction method, device, equipment, and computer-readable storage medium. Background technique [0002] In path planning in the field of unmanned driving, the automatic driving system needs to predict the trajectory of the surrounding obstacle vehicles, and the predicted trajectory will be used in the path planning process, so that the path planning algorithm can handle complex road conditions. [0003] During the driving process of the obstacle vehicle, the obstacle vehicle does not run at a uniform speed. However, the current trajectory prediction methods for obstacle vehicles usually assume that the obstacle vehicle travels at a constant speed, and predict the position of the obstacle vehicle at the next moment according to the position and speed of the obstacle vehicle at the previous moment. predictions are inaccurate. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/28
CPCG01C21/28
Inventor 鞠策
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD