Obstacle trajectory prediction method and device and unmanned equipment

A technology for unmanned driving equipment and trajectory prediction, applied in two-dimensional position/channel control, transportation and packaging, vehicle position/route/height control, etc., can solve the problem of poor trajectory accuracy of obstacles and lack of unmanned equipment Rationality and other issues, the results achieved are more reasonable

Active Publication Date: 2019-09-24
BEIJING SANKUAI ONLINE TECH CO LTD
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However, the accuracy of the future trajectory of obstacles predicted in thi...

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  • Obstacle trajectory prediction method and device and unmanned equipment
  • Obstacle trajectory prediction method and device and unmanned equipment
  • Obstacle trajectory prediction method and device and unmanned equipment

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[0050] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.

[0051]The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term ...

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Abstract

The invention provides an obstacle trajectory prediction method and device and unmanned equipment. According to one specific embodiment of the invention, the method comprises the following steps: for each target moment in a plurality of target moments in a future preset time period, executing the following operations to predict a track point of each obstacle in a plurality of obstacles at the target moment: determining the positioning information of the unmanned equipment and each obstacle at the previous moment of the target moment; determining a global interaction vector of the previous moment based on the positioning information, wherein the global interaction vector is used for representing common influence factors of the unmanned equipment and the plurality of obstacles on motion; and predicting a track point of each obstacle at the target moment based on the global interaction vector. The future track of the obstacle predicted by the method is closer to the actual track, so that the path planning result of the unmanned equipment is more reasonable.

Description

technical field [0001] The present application relates to the field of unmanned driving technology, in particular to a method and device for trajectory prediction of obstacles, and unmanned driving equipment. Background technique [0002] At present, in the field of unmanned driving technology, it is necessary to plan the path of unmanned equipment to obtain a safe and smooth running trajectory. In order to enable unmanned driving equipment to avoid surrounding obstacles more accurately, it is usually necessary to predict the future trajectory of the obstacles. Generally speaking, in related technologies, the trajectory points of the obstacle at multiple preset times in the future are predicted according to the movement state of the obstacle in the current and the preset period before the current, so as to obtain the future trajectory of the obstacle. However, the accuracy of the future trajectory of the obstacle predicted in this way is poor, which makes the result of path...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0238G05D2201/0212
Inventor 朱炎亮任冬淳钱德恒
Owner BEIJING SANKUAI ONLINE TECH CO LTD
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