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Driving track prediction method and device, electronic equipment and storage medium

A technology of driving trajectory and prediction method, which is applied in the direction of control device, transportation and packaging, and external condition input parameters, etc. It can solve problems such as unreasonable movement trajectory, prediction algorithm error, and insufficient information, so as to accurately predict driving trajectory and improve safety effect

Pending Publication Date: 2022-05-13
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In autonomous driving applications, unmanned vehicles also need to accurately plan the next actions of their own vehicles based on the future trajectory of surrounding vehicles. Due to the lack of comprehensive information relied on in the prediction process of existing technologies and errors in the prediction algorithms used, it may It will predict unreasonable trajectories, which will affect the prediction of the trajectories of surrounding vehicles, which will have a great impact on the safety, reliability and comfort of autonomous driving.

Method used

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  • Driving track prediction method and device, electronic equipment and storage medium
  • Driving track prediction method and device, electronic equipment and storage medium
  • Driving track prediction method and device, electronic equipment and storage medium

Examples

Experimental program
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Embodiment 1

[0048] figure 1 It is a flowchart of a driving trajectory prediction method provided in Embodiment 1 of the present invention. This embodiment can be applied to the situation of predicting the driving trajectory of the current vehicle; specifically, it is more suitable for obtaining the surrounding obstacles based on environmental condition constraints. Predicting the trajectory, and predicting the current vehicle's driving trajectory based on the predicted trajectory of surrounding obstacles and the current vehicle's driving trajectory. The method can be executed by a driving trajectory prediction device, and the device can be implemented by means of software and / or hardware.

[0049] Before introducing the technical solutions provided by the embodiments of the present invention, the application scenarios of the embodiments of the present invention are firstly introduced. Of course, the technical solutions provided by the embodiments of the present invention can also be appli...

Embodiment 2

[0075] figure 2 This is a flowchart of a driving trajectory prediction method provided in Embodiment 2 of the present invention. On the basis of the above-mentioned embodiments, this embodiment combines the step "determining the object predicted trajectory of the target object based on the environmental constraints and each candidate predicted trajectory. "Refinement into steps" Screen each candidate predicted trajectory based on the constraints of kinematic characteristics, traffic rule constraints and vehicle interaction constraints, and determine the selected candidate predicted trajectory as the object predicted trajectory of the target object" which is the same as the above. The explanation of the same or corresponding terms in each embodiment is not repeated here. see figure 2 , the driving trajectory prediction method provided by this embodiment includes:

[0076] S210: Acquire driving data of a target object within a preset range of the current vehicle, and determi...

Embodiment 3

[0094] Image 6 The structure schematic diagram of the driving trajectory prediction device provided by Embodiment 3 of the present invention, this embodiment can be applied to the situation of predicting the driving trajectory of the current vehicle; specifically, it is more suitable for obtaining the predicted trajectory of each surrounding obstacle based on the constraints of environmental conditions , and based on the predicted trajectory of surrounding obstacles and the current vehicle trajectory, the current vehicle trajectory is predicted. see Image 6 , the specific structure of the driving trajectory prediction device includes: a candidate predicted trajectory determination module 310, an object predicted trajectory determination module 320 and a driving trajectory prediction module 330; wherein,

[0095] A candidate predicted trajectory determination module 310, configured to acquire driving data of a target object within a preset range of the current vehicle, and d...

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Abstract

The embodiment of the invention discloses a driving track prediction method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring driving data of a target object in a preset range of a current vehicle, and determining at least one candidate prediction trajectory of the target object based on the driving data; obtaining an environment constraint condition of an environment where the target object is located, and determining an object prediction trajectory of the target object based on the environment constraint condition and each candidate prediction trajectory; and acquiring a current driving track of the current vehicle, and determining a predicted track of the current vehicle based on the current driving track and the predicted track of the object. Through the technical scheme disclosed by the embodiment of the invention, the rationality and accuracy of track prediction in automatic driving are improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automatic driving, and in particular, to a driving trajectory prediction method, device, electronic device, and storage medium. Background technique [0002] In a complex traffic environment, if a vehicle wants to drive safely and quickly, it must not only plan its own path, but also dynamically plan the next driving action according to the real-time changes of surrounding obstacles, and how to accurately predict the future of surrounding obstacles. The driving trajectory becomes especially important. [0003] Experienced drivers can accurately predict their next behaviors based on a series of actions of surrounding vehicles, such as going straight, changing lanes, turning, etc., and can predict the position of their future driving trajectory, such as moving away from or approaching the vehicle, Thereby avoiding collision with surrounding vehicles, or planning a more efficient overt...

Claims

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Application Information

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IPC IPC(8): B60W60/00B60W40/109
CPCB60W60/0016B60W60/0027B60W40/109B60W2555/60B60W2554/4042B60W2554/80
Inventor 李宇寂何柳尚秉旭王洪峰黄海洋
Owner CHINA FIRST AUTOMOBILE