A method and device for predicting obstacle trajectory and model training
An obstacle and trajectory technology, applied in the field of unmanned driving, can solve problems such as long time consumption
Active Publication Date: 2021-02-02
BEIJING SANKUAI ONLINE TECH CO LTD
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However, the more information acquired, the greater the amount of calculation required for unmanned equipment, and the longer it takes to predict the trajectory of obstacles
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[0059] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.
[0060] In the field of unmanned driving, unmanned equipment needs to plan its own trajectory in real time during operation to avoid obstacles in the surrounding environment and achieve safe driving. In the surrounding environment where the unmanned device is located, obstacles can include static obstacles and dynamic obstacles. Therefore, in order to better plan the trajectory of the unmann...
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This specification discloses a method and device for predicting obstacle trajectories and model training. Unmanned equipment can determine the current driving scene and determine the predicted duration of the predicted trajectories of each obstacle required for planning its own trajectory. Scenario, forecast duration, etc., among the preset information types, select at least one information type, and for each selected information type, obtain the information of each obstacle of this information type, and determine each obstacle according to the obtained information. Objects correspond to the characteristics of the information type. For each obstacle, the predicted trajectory of the obstacle within the prediction time period is determined according to the current position of the obstacle and the determined characteristics of each information type. This manual can select the type of information, based on the information of the selected type of information to improve the effect of predicting the trajectory of obstacles, and can also balance the calculation power consumed by unmanned equipment to predict the trajectory of obstacles and the accuracy of obstacle trajectory.
Description
technical field [0001] This description relates to the field of unmanned driving technology, in particular to a method and device for predicting obstacle trajectories and model training. Background technique [0002] At present, when the unmanned equipment is running, it can predict the trajectory of obstacles in the surrounding environment, based on the predicted trajectory of each obstacle, reasonably plan its own future trajectory, and pre-judge and adjust the control amount. [0003] Usually, unmanned equipment can obtain information such as historical trajectories of obstacles, electronic maps, traffic lights, weather, and pedestrian attitudes, and predict the trajectory of obstacles based on the obtained information. The more precise the trajectory, the longer the time period for reliable predictions. However, the more information acquired, the greater the amount of computation required by the unmanned device, and the longer it takes to predict the trajectory of the o...
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IPC IPC(8): G01C21/34G01C21/30G06N3/04G06N20/10G06N20/00
CPCG01C21/343G01C21/3446G01C21/30G06N20/00G06N20/10G06N3/044G06N3/045
Inventor 樊明宇任冬淳周浩夏华夏朱炎亮钱德恒杨旭
Owner BEIJING SANKUAI ONLINE TECH CO LTD