Driving track prediction method and device and automatic driving vehicle

A technology of driving trajectory and automatic driving, which is applied in the prediction of driving trajectory and the field of automatic driving vehicles, and can solve problems such as wrong prediction trajectory, easy prediction error, and low prediction accuracy

Inactive Publication Date: 2021-04-20
苏州挚途科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this prediction method is prone to prediction errors in some scenarios. For example, when a vehicle needs to turn right at a narrow intersection, the vehicle may first turn to the left by a small margin and then turn right in order to pass the intersection smoothly.
Since the vehicle first turns to the left by a certain amount, the heading angle of the vehicle is biased to the left at this time, so the probability of the predicted trajectory tur

Method used

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  • Driving track prediction method and device and automatic driving vehicle
  • Driving track prediction method and device and automatic driving vehicle
  • Driving track prediction method and device and automatic driving vehicle

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Embodiment 1

[0035] figure 1 It is a schematic flowchart of a method for predicting a driving trajectory provided by an embodiment of the present invention, which consists of figure 1 Visible, this method comprises the following steps:

[0036] Step S101: Obtain trajectory information of the target vehicle; wherein, the driving characteristic information includes position, vehicle speed and steering angle.

[0037] In one of the possible application scenarios, the above method for predicting the driving trajectory is applied to the own vehicle (hereinafter referred to as the driving vehicle) to predict the driving trajectory of other vehicles. For example, when the host vehicle is traveling on a road, the trajectory of an oncoming vehicle or a sideways vehicle is predicted.

[0038] Wherein, the acquisition of the above-mentioned driving feature information of the target vehicle is generally extracted from the perception information of the driving vehicle. The perception information of ...

Embodiment 2

[0050] exist figure 1 On the basis of the trajectory prediction method shown above, another driving trajectory prediction method is provided in the embodiment of the present invention. see image 3 The flow chart of a trajectory prediction method for a vehicle fusion V2V at an intersection is shown, as shown in image 3 see:

[0051] Step S301: Receive V2V information sent by the target vehicle; wherein, the V2V information is vehicle-to-vehicle communication information.

[0052] In this embodiment, it is assumed that the application scenario is that a vehicle traveling on a road needs to predict the trajectories of other vehicles. Wherein, V2V communication devices (or V2X devices) are installed in both the own vehicle and the target vehicle, wherein the V2V communication device in the own vehicle can receive the V2V information sent by the V2V devices in other vehicles, and the target vehicle can also receive the V2V information sent by the own vehicle. V2V information ...

Embodiment 3

[0070] An embodiment of the present invention provides an automatic driving vehicle, such as Image 6 As shown, it is a schematic structural diagram of an automatic driving vehicle provided by an embodiment of the present invention.

[0071] The vehicle controller 62 is used to implement the above-mentioned vehicle control method.

[0072] The memory 63 stores computer-executable instructions that can be executed by the vehicle controller, and the vehicle controller executes the computer-executable instructions to implement any one of the above methods for predicting the driving trajectory. The vehicle controller 62 is connected to the memory 63 .

[0073] The vehicle controller 62 and the memory 63 are both arranged on the vehicle body 61 .

[0074] On the basis of the above automatic driving vehicle, this embodiment also provides another automatic driving vehicle. The self-driving vehicle also includes a vehicle networking module, configured to receive the V2V information...

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PUM

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Abstract

The invention relates to the technical field of automatic driving, and in particular relates to a driving track prediction method and device and an automatic driving vehicle. The method comprises the following steps: acquiring driving characteristic information of a target vehicle; the driving characteristic information comprising a position, a vehicle speed and a steering angle; the steering angle being a wheel steering angle or a steering wheel steering angle; and predicting the driving track of the target vehicle according to the driving characteristic information. According to the embodiment of the invention, the future driving track of the target vehicle is predicted by utilizing the steering angle (such as the wheel steering angle or the steering wheel steering angle) of the target vehicle, and the steering angle of the target vehicle can reflect the steering intention of the target vehicle more accurately than the vehicle course angle used in the prior art; the accuracy of predicting the driving track of the target vehicle can be improved, so that whether the vehicle collides with the target vehicle or not can be judged more accurately according to the predicted driving track, the situation that the driving vehicle decelerates improperly is relieved, and the riding experience of passengers is improved.

Description

technical field [0001] The invention belongs to the technical field of automatic driving, and in particular relates to a prediction method and device of a driving trajectory and an automatic driving vehicle. Background technique [0002] With the increasing number of cars and the denser road traffic environment, higher requirements are placed on the trajectory prediction technology for automatic driving of vehicles. During the automatic driving process of the vehicle, the correct prediction of the running trajectory of the surrounding vehicles is the basis for the user to obtain a good driving experience. [0003] When meeting cars at intersections, the conventional prediction method for the vehicle control system for automatic driving is to obtain the speed, heading angle, position, etc. of the vehicles around the vehicle through the vehicle's own perception system (automatic driving prediction system), and These parameters are input into the trajectory prediction model, c...

Claims

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Application Information

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IPC IPC(8): G08G1/0967G08G1/01H04W4/46B60W30/095B60W40/10B60W40/105B60W50/00
Inventor 韩志华徐修信黄文欢
Owner 苏州挚途科技有限公司
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