Motion trajectory prediction method and device for obstacle at intersection

Abstract

An embodiment of the invention provides a motion trajectory prediction method and device for an obstacle at an intersection. The method herein comprises: acquiring ambient information of an intersection which a vehicle is to cross and visual obstacle information in a vehicle sensing range; fusing intersection obstacle information and the visual obstacle information, and screening out blind-area obstacle information of the vehicle at the intersection; predicting a motion trajectory of the obstacle corresponding to the blind-area obstacle information according to road information. The device herein comprises: an acquisition module for acquiring ambient information of an intersection which a vehicle is to cross and visual obstacle information of the vehicle; a fusion module for screening outblind-area obstacle information of the vehicle at the intersection; a trajectory prediction module for predicting a motion trajectory of the obstacle corresponding to the blind-area obstacle information. The ambient information of the intersection is acquired according to the embodiment; therefore, the problem is solved that a sensing blind area occurs before a vehicle arrives at the intersection,and the capacity of the vehicle to predict intersection obstacles is improved.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a method and device for predicting the movement trajectory of an obstacle at an intersection. Background technique [0002] In the prior art, since the self-driving vehicle needs to rely on the perception of the surrounding environment to make trajectory planning, it is very important for the self-driving vehicle to fully perceive the obstacles around the self-driving vehicle. However, due to the limited perception range of autonomous driving vehicles, when passing through surrounding environments such as road intersections with a lot of concealment and occlusion, autonomous driving vehicles will have perception blind spots. When the self-driving vehicle cannot perceive the obstacles in the blind spot, it will not plan its own driving trajectory according to the obstacles in the blind spot. As a result, when the self-driving vehicle passes through the road inte...

AI Technical Summary

Problems solved by technology

As a result, when the self-driving vehicle passes through the road intersection, it cannot avoid the obstacles that suddenly appear in the blind area of ​​the intersection in time, which reduces the safety of the vehicle.

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