Obstacle trajectory prediction method and device

Abstract

The invention discloses an obstacle trajectory prediction method and device. According to the embodiment of the invention, determining the global interaction characteristics under the combined actionof the vehicle and each obstacle according to the vehicle, the historical state information and the current state information of each obstacle and the planned future motion trail of the vehicle; determining individual interaction characteristics of the to-be-predicted obstacle according to the global interaction characteristics and the current state information of the to-be-predicted obstacle; andpredicting the future trajectory of the obstacle to be predicted through the individual interaction characteristics and the information of the environment where the vehicle is located. According to the embodiment of the invention, the future interaction result between the vehicle and each obstacle is represented through the global interaction characteristics; when the trajectory of the to-be-predicted obstacle is predicted, the influence of interaction between the vehicle and each obstacle on the future trajectory of the to-be-predicted obstacle is considered, and the planned future motion trajectory of the vehicle is also referred to, so that the predicted future trajectory is closer to the actual trajectory.

Description

technical field [0001] This specification relates to the field of unmanned driving technology, and in particular to a method and device for trajectory prediction of obstacles. Background technique [0002] At present, as an important part of artificial intelligence technology, the intelligentization of vehicles plays an increasingly prominent role in social production and life, and has become one of the main directions to guide the development of transportation technology. [0003] When planning the path of unmanned vehicles and vehicles with assisted driving functions (hereinafter collectively referred to as "vehicles"), in order to make the vehicle drive safely, it is necessary for the vehicle to avoid surrounding obstacles. Obstacles include static obstacles and dynamic obstacles. Since the static obstacles are stationary, it is easy for the vehicle to avoid the static obstacles. However, if the vehicle is to avoid dynamic obstacles accurately, it is necessary to predict...

AI Technical Summary

Problems solved by technology

Due to the complexity of the actual traffic conditions, there may be interactions between multiple dynamic obstacles and between dynamic obstacles and vehicles (for example, the motion state of a dynamic obstacle will be affected by another dynamic obstacle that is closer to it. or the impact of the vehicle's motion state, etc.), therefore, the accuracy of predicting the future trajectory of dynamic obstacles through the above method is poor, resulting in a lack of rationality in the results of vehicle path planning

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