Vehicle trajectory determination method and device, equipment and storage medium
A technology of vehicle trajectory and determination method, which is applied to control devices, vehicle components, transportation and packaging, etc., can solve problems such as inaccurate vehicle trajectory prediction, and achieve the effect of improving prediction accuracy.
Pending Publication Date: 2021-12-14
杭州飞步科技有限公司
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Problems solved by technology
[0005]
Embodiments of the present application provide a method, device, device, and storage medium for determining vehicle trajectories to solve the problem of inaccurate prediction of vehicle trajectories in the prior art
Method used
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[0070] 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 examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.
[0071] Before introducing the embodiment of the application, at first the background technology of the application is explained:
[0072] Trajectory prediction is widely used in robotics, autonomous vehicle route planning and other fields. It provides a reference for the operation changes of robots and self-driving cars in the future trajectory, and is helpful for users to make timely...
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The invention provides a vehicle trajectory determination method and device, equipment and a storage medium, wherein the method comprises the steps: obtaining the vehicle characteristics of a to-be-detected vehicle and the vehicle characteristics of other vehicles in a first preset time, and the environment characteristics in a preset range with the to-be-detected vehicle as the center; and based on a lane segmentation heterogeneous graph, and according to the vehicle characteristics of the to-be-detected vehicle, the vehicle characteristics of other vehicles and the environment characteristics, determining a driving trajectory of the to-be-detected vehicle in a second preset time, and displaying the driving trajectory of the to-be-detected vehicle. According to the technical scheme, starting from the position data of the to-be-detected vehicle and other vehicles in the preset range, the coordinate information of each segment of the lane and the steering type of each segment, the predicted trajectory of the vehicle is more in line with an actual scene, and the prediction accuracy of the trajectory of the vehicle is improved.
Description
technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a method, device, device and storage medium for determining a vehicle trajectory. Background technique [0002] Trajectory prediction is widely used in intelligent fields such as robotics and autonomous vehicle route planning, and provides a reference for the operational changes of vehicles or robots in future trajectories (for example, in the next few seconds). [0003] In the prior art, taking the trajectory prediction of vehicle A as an example, the operation information (for example, operation and position data) of vehicle B around vehicle A is generally collected and analyzed to obtain the possible existence of vehicle B on the trajectory of vehicle A influence, so as to determine the trajectory of vehicle A after the current time. [0004] However, the prediction methods in the prior art only start with the running information of vehicles B and A, a...
Claims
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Login to View More IPC IPC(8): B60W30/095B60W50/14
CPCB60W30/0953B60W30/0956B60W50/14B60W2554/4041B60W2554/80B60W2050/146Y02T10/40
Inventor 杨政赵懿李昊王灏钱炜何晓飞
Owner 杭州飞步科技有限公司