Vehicle driving intention prediction method and device, equipment and storage medium

Abstract

The invention belongs to the technical field of vehicle driving, and particularly provides a vehicle driving intention prediction method, device and equipment and a storage medium, and the method comprises the following steps: obtaining the current track information and predicted track information of each second vehicle in the driving surrounding environment of a first vehicle; according to the current position information and the predicted position information of the second vehicle, determining the lateral offset distance of the second vehicle; determining a course deviation angle of the second vehicle according to the current course information and the predicted course information of the second vehicle; and predicting the driving intention of the second vehicle based on the lateral deviation distance and the course deviation angle of the second vehicle. The future driving intention of each second vehicle around the first vehicle is automatically predicted, so that a driver of the first vehicle is helped to better drive the first vehicle, collision with each second vehicle is avoided, and the safety of the first vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle driving technology, and in particular to a method, device, equipment and storage medium for predicting vehicle driving intention. Background Art

[0002] With the continuous increase in the number of vehicles, the traffic conditions on the road are becoming more and more complicated. Therefore, when driving, the vehicle needs to understand the driving intentions of surrounding vehicles in a timely manner to improve the safety of vehicle driving.

[0003] At present, it is usually based on the driver's observation of the current driving behavior of surrounding vehicles. This method, on the one hand, consumes the driver's attention and affects the driver's safe driving; on the other hand, the driver can only understand the current driving behavior of surrounding vehicles and cannot predict the future driving intentions of surrounding vehicles.

[0004] Autonomous vehicles usually use various sensors installed on the vehicle to detect the relative positions of surrounding vehicles relative to the autonomous vehicle, so that the autonomous vehicle can plan its path based on the detected relative positions. However, other vehicles around the autonomous vehicle are constantly moving. If only the relative positions of surrounding vehicles and the autonomous vehicle are used to plan the path for the autonomous vehicle, the accuracy of the path planning may be low, which in turn affects the safety of the autonomous vehicle. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a method, device, equipment and storage medium for predicting vehicle driving intention.

[0006] In a first aspect, the technical solution of the present invention provides a method for predicting vehicle driving intention, comprising the following steps: Acquire current trajectory information and predicted trajectory information of each second vehicle in the driving environment of the first vehicle; wherein the current trajectory information includes current position information and current heading information of the second vehicle at the current driving time; the predicted trajectory information includes predicted position information and predicted heading information of the second vehicle at a target driving time; the target driving time is located after the current driving time and is separated from the current driving time by a preset time length; Determining a lateral offset distance of the second vehicle according to the current position information of the second vehicle and the predicted position information; and determining a heading deviation angle of the second vehicle according to the current heading information and the predicted heading information of the second vehicle; Based on the lateral offset distance and the heading offset angle of the second vehicle, the driving intention of the second vehicle is predicted.

[0007] As a further limitation of the technical solution of the present invention, the current position information and the predicted position information are position information in a world coordinate system, and the step of determining the lateral offset distance of the second vehicle according to the current position information of the second vehicle and the predicted position information comprises: The current position information of the second vehicle is converted into a target coordinate system to obtain the first position information of the second vehicle in the target coordinate system, and the predicted position information of the second vehicle is converted into the target coordinate system to obtain the second position information of the second vehicle in the target coordinate system; wherein the origin of the target coordinate system is the position of the first vehicle at the current driving moment, and the transverse coordinate axis of the target coordinate system is the heading of the first vehicle at the current driving moment; the first position information includes the first transverse coordinate of the second vehicle in the target coordinate system; and the second position information includes the second transverse coordinate of the second vehicle in the target coordinate system; The difference between the second horizontal coordinate and the first horizontal coordinate is calculated to obtain the lateral offset distance of the second vehicle.

[0008] As a further limitation of the technical solution of the present invention, the step of determining the heading deviation angle of the second vehicle according to the current heading information and the predicted heading information of the second vehicle includes: The difference between the predicted heading information and the current heading information of the second vehicle is calculated to obtain the heading deviation angle of the second vehicle.

[0009] As a further limitation of the technical solution of the present invention, the current trajectory information also includes the lane width of the lane where the second vehicle is located at the current driving moment; and the step of determining the heading deviation angle of the second vehicle according to the current heading information and the predicted heading information of the second vehicle includes: Calculating the product of the lane width and a preset straight lateral deviation rate to obtain a maximum straight lateral deviation value; If the absolute value of the lateral offset distance of the second vehicle is smaller than the maximum straight lateral offset value, and the absolute value of the heading offset angle is smaller than the preset maximum straight heading offset angle, the driving intention of the second vehicle is to go straight.

[0010] As a further limitation of the technical solution of the present invention, the current trajectory information also includes a first lane mark of the lane where the second vehicle is located at the current driving time; the predicted trajectory information also includes a second lane mark of the predicted lane where the second vehicle is located at the target driving time; based on the lateral offset distance and the heading offset angle of the second vehicle, the step of predicting the driving intention of the second vehicle includes: When the first lane marker and the second lane marker of the second vehicle are different, calculating the product of the lane width and a preset lane-changing lateral deviation rate to obtain a maximum lane-changing lateral deviation value; If the absolute value of the lateral offset distance is less than the maximum lateral offset for lane change, and the absolute value of the heading offset angle is less than the preset maximum heading offset angle for lane change, the driving intention of the second vehicle is to change lanes; wherein, when the lateral offset distance is a negative number, the driving intention of the second vehicle is to change lanes to the left; when the lateral offset distance is a positive number, the driving intention of the second vehicle is to change lanes to the right.

[0011] As a further limitation of the technical solution of the present invention, the step of predicting the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle of the second vehicle further includes: Calculating the product of the lane width and a preset lateral steering deviation rate to obtain a maximum steering deviation value; If the absolute value of the lateral offset distance of the second vehicle is less than the maximum steering lateral offset, and the absolute value of the heading offset angle is less than the preset maximum steering heading offset angle, the driving intention of the second vehicle is turning; wherein, when the heading offset angle is a positive number, the driving intention of the second vehicle is turning left; when the heading offset angle is a negative number, the driving intention of the second vehicle is turning right.

[0012] As a further limitation of the technical solution of the present invention, the step of predicting the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle of the second vehicle includes: The driving intention of each of the second vehicles in the driving environment of the first vehicle is displayed on the display screen of the first vehicle for the driver to view; or, a path is planned for the first vehicle based on the driving intention of each of the second vehicles in the driving environment of the first vehicle, the position of the first vehicle at the current driving moment, and the destination information of the first vehicle.

[0013] In a second aspect, the technical solution of the present invention provides a vehicle driving intention prediction device, including an acquisition module, a determination module and a prediction module; an acquisition module, for acquiring current track information and predicted track information of each second vehicle in the driving environment of the first vehicle; wherein the current track information includes the current position information and the current heading information of the second vehicle at the current driving time; the predicted track information includes the predicted position information and the predicted heading information of the second vehicle at the target driving time; the target driving time is located after the current driving time and is separated from the current driving time by a preset time length; A determination module, configured to determine a lateral offset distance of the second vehicle according to the current position information of the second vehicle and the predicted position information; and to determine a heading offset angle of the second vehicle according to the current heading information of the second vehicle and the predicted heading information; A prediction module is used to predict the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle of the second vehicle.

[0014] In a third aspect, the technical solution of the present invention provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the method for predicting vehicle driving intention as described in the first aspect is performed.

[0015] In a fourth aspect, the technical solution of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method for predicting the vehicle driving intention as described in the first aspect is executed.

[0016] It can be seen from the above technical solutions that the present invention has the following advantages: automatically predicting the future driving intentions of each second vehicle around the first vehicle is helpful to assist the driver of the first vehicle to better drive the first vehicle, avoid collisions with each second vehicle, and improve the safety of the first vehicle. If the first vehicle is an unmanned vehicle, then the first vehicle can predict the future driving intentions of each second vehicle around it, which is helpful to assist the first vehicle to plan the path more accurately, so that the first vehicle can avoid collisions with each second vehicle during driving, thereby improving the safety of the first vehicle.

[0017] In addition, the invention has a reliable design principle, a simple structure and a very broad application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a schematic flow chart of a method according to an embodiment of the present invention.

[0020] Figure 2 It is a schematic diagram of a flow chart of determining the lateral offset distance of the second vehicle in an embodiment of the present invention.

[0021] Figure 3 is a schematic block diagram of an apparatus according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0023] To facilitate understanding of this embodiment, a method for predicting vehicle driving intention disclosed in the embodiment of the present application is first described in detail. The method is applied to a first vehicle, Figure 1 A flow chart of a method for predicting vehicle driving intention provided by an embodiment of the present application is shown. Figure 1 As shown, the following steps are included: S101: At each driving moment during the driving process of the first vehicle, obtain the current trajectory information and predicted trajectory information of each second vehicle in the surrounding environment of the first vehicle; wherein the current trajectory information includes the current position information and current heading information of the second vehicle at the current driving moment; the predicted trajectory information includes the predicted position information and predicted heading information of the second vehicle at a target driving moment; the target driving moment is located after the current driving moment and is separated from the current driving moment by a preset time length.

[0024] In this embodiment, the first vehicle can be an unmanned vehicle or a vehicle driven by a driver. At each driving moment of the first vehicle during driving, when at least one second vehicle is detected to appear in the surrounding environment of the first vehicle, the current trajectory information and predicted trajectory information of each second vehicle in the surrounding environment of the first vehicle are respectively obtained. If no second vehicle appears in the surrounding environment of the first vehicle, that is, there is no other vehicle around the first vehicle, it is not necessary to obtain the current trajectory information and predicted trajectory information of each second vehicle in the surrounding environment of the first vehicle.

[0025] Among them, two adjacent driving moments may be separated by a first preset time length, for example, one second. The surrounding environment of the first vehicle may refer to a circular area with the first vehicle as the center and a preset length as the radius; or it may be an area that can be sensed by various sensors of the first vehicle. The second vehicle is located in the surrounding environment of the first vehicle, that is, the second vehicle is a surrounding vehicle of the first vehicle, and the second vehicle is not the same vehicle as the first vehicle. As the first vehicle travels, at different driving moments, the second vehicle in the surrounding environment of the first vehicle may be the same or different.

[0026] Each second vehicle corresponds to its own current track information and predicted track information. The current track information includes the current position information and current heading information of the second vehicle at the current driving moment. The current heading information refers to the current driving direction of the second vehicle.

[0027] The predicted trajectory information includes the predicted position information and predicted heading information of the second vehicle at the target driving time. The predicted trajectory information may be predicted by a pre-trained prediction model. The target driving time is a future time of the current driving time and is separated from the current driving time by a preset time duration. The preset time duration may be a preset number of seconds, for example, the preset time duration is 3 seconds.

[0028] S102: For each second vehicle, determine the lateral offset distance of the second vehicle according to the current position information and the predicted position information of the second vehicle; and determine the heading offset angle of the second vehicle according to the current heading information and the predicted heading information of the second vehicle.

[0029] In a possible implementation manner, the current position information and the predicted position information are position information in a world coordinate system; when executing step S102, for each second vehicle, according to the current position information and the predicted position information of the second vehicle, the lateral offset distance of the second vehicle is determined, such as Figure 2 As shown, the following steps S1021-S1022 may be performed: S1021: converting the current position information of the second vehicle into a target coordinate system to obtain first position information of the second vehicle in the target coordinate system, and converting the predicted position information of the second vehicle into the target coordinate system to obtain second position information of the second vehicle in the target coordinate system; wherein the origin of the target coordinate system is the position of the first vehicle at the current driving moment, and the horizontal coordinate axis of the target coordinate system is the heading of the first vehicle at the current driving moment; the first position information includes the first horizontal coordinate of the second vehicle in the target coordinate system; and the second position information includes the second horizontal coordinate of the second vehicle in the target coordinate system; In this embodiment, since the current position information and the predicted position information are position information in the world coordinate system, the current position information and the predicted position information are specifically longitude and latitude information. In this embodiment, the current position information and the predicted position information in the world coordinate system need to be converted to the target coordinate system to calculate the lateral offset distance of the second vehicle.

[0030] Specifically, according to the position and heading of the first vehicle at the current driving moment, a target coordinate system is established, wherein the origin of the target coordinate system is the position of the first vehicle at the current driving moment, and the lateral coordinate axis is the heading of the first vehicle at the current driving moment.

[0031] In this embodiment, the first position information of the second vehicle in the target coordinate system at the current driving moment is calculated by the following formula: x_1^'=dx_1 cosa-dy_1 sina y_1^'=dx_1 sina-dy_1 cosa dx_1=x_1-x_0 dy_1=y_1-y_0 Among them, (x0, y0) represents the position of the first vehicle at the current driving moment; a represents the heading of the first vehicle at the current driving moment; (x1, y1) represents the current position information of the second vehicle at the current driving moment; (x_1^', y_1^') represents the first position information of the second vehicle in the target coordinate system at the current driving moment; x_1^' represents the first horizontal coordinate of the second vehicle in the target coordinate system at the current driving moment.

[0032] Similarly, the second position information of the second vehicle in the target coordinate system at the target driving time is calculated by the following formula: x_2^'=dx_2 cosa-dy_2 sina y_2^'=dx_2 sina-dy_2 cosa dx_2=x_2-x_0 dy_2=y_2-y_0 Among them, (x2, y2) represents the predicted position information of the second vehicle at the target driving time; (x_2^', y_2^') represents the second position information of the second vehicle in the target coordinate system at the target driving time; x_2^' represents the second horizontal coordinate of the second vehicle in the target coordinate system at the target driving time.

[0033] S1022: Calculate the difference between the second horizontal coordinate and the first horizontal coordinate to obtain the lateral offset distance of the second vehicle.

[0034] In this embodiment, the lateral offset distance d1=x_2^'-x_1^'.

[0035] In a possible implementation manner, when executing step S102 to determine the heading deviation angle of the second vehicle according to the current heading information and the predicted heading information of the second vehicle, the following steps may be specifically performed: The difference between the predicted heading information and the current heading information of the second vehicle is calculated to obtain the heading deviation angle of the second vehicle.

[0036] In this embodiment, the heading of the first vehicle at the current driving moment is taken as the original direction, and the angle between the current heading of the second vehicle at the current driving moment and the original direction is taken as the current heading information of the second vehicle. Since the current heading of the second vehicle at the current driving moment is the same as the original direction, the current heading information of the second vehicle in this example is 0 degrees. The angle between the predicted heading of the second vehicle at the target driving moment and the original direction is taken as the predicted heading information of the second vehicle. The current heading of the second vehicle at the current driving moment is perpendicular to the original direction, so the predicted heading information of the second vehicle in this example is 90 degrees.

[0037] S103: Predicting the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle of the second vehicle.

[0038] In this embodiment, the driving intention is: going straight, changing lanes, or turning. Wherein, going straight means driving straight in the same lane. Changing lanes means driving from one lane to another lane without changing the driving direction, and the driving directions of the two lanes are the same, including left lane change and right lane change. Turning means changing the driving direction, including left turn and right turn.

[0039] In a possible implementation, the current trajectory information also includes the lane width of the lane where the second vehicle is located at the current driving moment; when executing step S103, the following steps S1031-S1032 may be specifically performed: S1031: Calculate the product of the lane width and the preset straight lateral deviation rate to obtain the maximum straight lateral deviation value.

[0040] In this embodiment, the preset straight lateral deviation rate has a value range of 0-1, and preferably, a value range of 0.25-0.75. For example, the value may be 0.5.

[0041] The product of the lane width and the preset straight lateral deviation rate is calculated, and the result of the product is used as the maximum straight lateral deviation.

[0042] S1032: If the absolute value of the lateral offset distance of the second vehicle is less than the maximum straight lateral offset value, and the absolute value of the heading offset angle is less than the preset maximum straight heading offset angle, then the driving intention of the second vehicle is to go straight.

[0043] In a possible implementation, the current trajectory information further includes a first lane mark of a lane where the second vehicle is located at the current driving time; the predicted trajectory information further includes a second lane mark of a predicted lane where the second vehicle is located at the target driving time; when executing step S103, the following steps S1033-S1034 may be specifically performed: S1033: When the first lane marking and the second lane marking of the second vehicle are different, the product of the lane width and the preset lane change lateral deviation rate is calculated to obtain a maximum lane change lateral deviation value.

[0044] In this embodiment, when the first lane marking and the second lane marking of the second vehicle are different, it indicates that the second vehicle is not in the same lane at the current driving time and the target driving time. At this time, it is necessary to calculate the product between the lane width and the preset lane change lateral offset rate, and the result of the product is used as the maximum lane change lateral offset.

[0045] The preset lane change lateral deviation rate has a value range of 0-1, and preferably, a value range of 0.25-0.75. For example, the value may be 0.5.

[0046] S1034: If the absolute value of the lateral offset distance is less than the maximum lateral offset for lane change, and the absolute value of the heading offset angle is less than the preset maximum heading offset angle for lane change, then the driving intention of the second vehicle is to change lanes; wherein, when the lateral offset distance is a negative number, the driving intention of the second vehicle is to change lanes to the left; when the lateral offset distance is a positive number, the driving intention of the second vehicle is to change lanes to the right.

[0047] In this embodiment, the second vehicle's driving intention is to change lanes only when the following three conditions are met at the same time: the first lane marking of the second vehicle is different from the second lane marking, the absolute value of the lateral offset distance is less than the maximum lateral offset for lane change, and the absolute value of the heading offset angle is less than the preset maximum heading offset angle for lane change.

[0048] In a possible implementation manner, when executing step S103, the following steps S1035-S1036 may be specifically performed: S1035: Calculate the product of the lane width and the preset lateral steering offset rate to obtain a maximum steering offset value.

[0049] The value range of the steering lateral deviation rate is 0-1, and more preferably, the value range can be 0.5-1. For example, the value can be 0.75.

[0050] S1036: If the absolute value of the lateral offset distance of the second vehicle is less than the maximum value of the steering lateral offset, and the absolute value of the heading offset angle is less than the preset maximum steering heading offset angle, then the driving intention of the second vehicle is turning; wherein, when the heading offset angle is a positive number, the driving intention of the second vehicle is turning left; when the heading offset angle is a negative number, the driving intention of the second vehicle is turning right.

[0051] In a possible implementation manner, after executing step S103, the following steps may be specifically performed: When the first vehicle is a vehicle driven by a driver, the driving intention of each second vehicle in the surrounding environment of the first vehicle is displayed on a display screen of the first vehicle for the driver to view; Alternatively, when the first vehicle is an unmanned vehicle, a path is planned for the first vehicle based on the driving intention of each second vehicle in the surrounding environment of the first vehicle, the position of the first vehicle at the current driving moment, and the destination information of the first vehicle.

[0052] Based on the same technical concept, the present application also provides a vehicle driving intention prediction device, Figure 3 A schematic diagram of the structure of a vehicle driving intention prediction device provided in an embodiment of the present application is shown. Figure 3 As shown, the device comprises: The acquisition module 301 is used to acquire the current trajectory information and predicted trajectory information of each second vehicle in the surrounding environment of the first vehicle at each driving moment during the driving process of the first vehicle; wherein the current trajectory information includes the current position information and current heading information of the second vehicle at the current driving moment; the predicted trajectory information includes the predicted position information and predicted heading information of the second vehicle at a target driving moment; the target driving moment is located after the current driving moment and is separated from the current driving moment by a preset time length; The determination module 302 is used to determine, for each second vehicle, a lateral offset distance of the second vehicle according to the current position information and the predicted position information of the second vehicle; and determine a heading offset angle of the second vehicle according to the current heading information and the predicted heading information of the second vehicle; The prediction module 303 is used to predict the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle of the second vehicle.

[0053] Optionally, the current position information and the predicted position information are position information in a world coordinate system; when the determination module 302 is used to determine, for each second vehicle, the lateral offset distance of the second vehicle according to the current position information and the predicted position information of the second vehicle, it is specifically used to: The current position information of the second vehicle is converted into a target coordinate system to obtain the first position information of the second vehicle in the target coordinate system, and the predicted position information of the second vehicle is converted into the target coordinate system to obtain the second position information of the second vehicle in the target coordinate system; wherein the origin of the target coordinate system is the position of the first vehicle at the current driving moment, and the transverse coordinate axis of the target coordinate system is the heading of the first vehicle at the current driving moment; the first position information includes the first transverse coordinate of the second vehicle in the target coordinate system; and the second position information includes the second transverse coordinate of the second vehicle in the target coordinate system; The difference between the second horizontal coordinate and the first horizontal coordinate is calculated to obtain the lateral offset distance of the second vehicle.

[0054] Optionally, when the determination module 302 is used to determine the heading deviation angle of the second vehicle according to the current heading information and the predicted heading information of the second vehicle, it is specifically used to: The difference between the predicted heading information and the current heading information of the second vehicle is calculated to obtain a heading deviation angle of the second vehicle.

[0055] Optionally, the current trajectory information also includes a lane width of a lane in which the second vehicle is located at the current driving moment; when the prediction module 303 is used to predict the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle of the second vehicle, it is specifically used to: Calculating the product of the lane width and a preset straight lateral deviation rate to obtain a maximum straight lateral deviation value; If the absolute value of the lateral offset distance of the second vehicle is smaller than the maximum straight lateral offset value, and the absolute value of the heading offset angle is smaller than the preset maximum straight heading offset angle, the driving intention of the second vehicle is straight driving.

[0056] Optionally, the current trajectory information further includes a first lane marker of a lane where the second vehicle is located at the current driving moment; the predicted trajectory information further includes a second lane marker of a predicted lane where the second vehicle is located at the target driving moment; when the prediction module 303 is used to predict the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle of the second vehicle, it is also used to: When the first lane marker and the second lane marker of the second vehicle are different, calculating the product of the lane width and a preset lane-changing lateral deviation rate to obtain a maximum lane-changing lateral deviation value; If the absolute value of the lateral offset distance is less than the maximum lateral offset for lane change, and the absolute value of the heading offset angle is less than the preset maximum heading offset angle for lane change, the driving intention of the second vehicle is to change lanes; wherein, when the lateral offset distance is a negative number, the driving intention of the second vehicle is to change lanes to the left; when the lateral offset distance is a positive number, the driving intention of the second vehicle is to change lanes to the right.

[0057] Optionally, when the prediction module 303 is used to predict the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle of the second vehicle, it is further used to: Calculating the product of the lane width and a preset lateral steering deviation rate to obtain a maximum steering deviation value; If the absolute value of the lateral offset distance of the second vehicle is less than the maximum steering lateral offset, and the absolute value of the heading offset angle is less than the preset maximum steering heading offset angle, the driving intention of the second vehicle is turning; wherein, when the heading offset angle is a positive number, the driving intention of the second vehicle is turning left; when the heading offset angle is a negative number, the driving intention of the second vehicle is turning right.

[0058] Optionally, the device further includes: a display module, configured to display the driving intention of each second vehicle in the surrounding environment of the first vehicle on a display screen of the first vehicle for viewing by a driver after the prediction module 303 predicts the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle of the second vehicle; Alternatively, a planning module is used to plan a path for the first vehicle according to the driving intention of each of the second vehicles in the surrounding environment of the first vehicle, the position of the first vehicle at the current driving moment, and the destination information of the first vehicle after the prediction module predicts the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle of the second vehicle.

[0059] An electronic device provided in an embodiment of the present application includes: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device runs the above-mentioned information processing method, the processor communicates with the memory through the bus, and the processor executes the machine-readable instructions to perform the method steps described in Embodiment 1.

[0060] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method steps described in the above embodiment are executed.

[0061] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, electronic devices, and computer-readable storage media can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0062] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some communication interface, device or unit, which can be electrical, mechanical or other forms.

[0063] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0064] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0065] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0066] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

[0067] Although the present invention has been described in detail with reference to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, a person of ordinary skill in the art may make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions shall be within the scope of the present invention. Any person of ordinary skill in the art may easily think of changes or substitutions within the technical scope disclosed by the present invention, and these shall be within the scope of protection of the present invention.

Claims

1. A method for predicting vehicle driving intention, characterized in that: The steps include: Acquire current trajectory information and predicted trajectory information of each second vehicle in the driving environment of the first vehicle; wherein the current trajectory information includes current position information and current heading information of the second vehicle at the current driving time; the predicted trajectory information includes predicted position information and predicted heading information of the second vehicle at a target driving time; the target driving time is located after the current driving time and is separated from the current driving time by a preset time length; Determining a lateral offset distance of the second vehicle according to the current position information of the second vehicle and the predicted position information; and determining a heading deviation angle of the second vehicle according to the current heading information and the predicted heading information of the second vehicle; Based on the lateral offset distance and the heading offset angle of the second vehicle, the driving intention of the second vehicle is predicted.

2. The method for predicting vehicle driving intention according to claim 1, characterized in that: The current position information and the predicted position information are position information in a world coordinate system. The step of determining the lateral offset distance of the second vehicle according to the current position information of the second vehicle and the predicted position information includes: The current position information of the second vehicle is converted into a target coordinate system to obtain the first position information of the second vehicle in the target coordinate system, and the predicted position information of the second vehicle is converted into the target coordinate system to obtain the second position information of the second vehicle in the target coordinate system; wherein the origin of the target coordinate system is the position of the first vehicle at the current driving moment, and the transverse coordinate axis of the target coordinate system is the heading of the first vehicle at the current driving moment; the first position information includes the first transverse coordinate of the second vehicle in the target coordinate system; and the second position information includes the second transverse coordinate of the second vehicle in the target coordinate system; The difference between the second horizontal coordinate and the first horizontal coordinate is calculated to obtain the lateral offset distance of the second vehicle.

3. The method for predicting vehicle driving intention according to claim 2, characterized in that: The step of determining the heading deviation angle of the second vehicle according to the current heading information and the predicted heading information of the second vehicle comprises: The difference between the predicted heading information and the current heading information of the second vehicle is calculated to obtain the heading deviation angle of the second vehicle.

4. The method for predicting vehicle driving intention according to claim 3, characterized in that: The current trajectory information also includes the lane width of the lane where the second vehicle is located at the current driving moment; The step of determining the heading deviation angle of the second vehicle according to the current heading information and the predicted heading information of the second vehicle comprises: Calculating the product of the lane width and a preset straight lateral deviation rate to obtain a maximum straight lateral deviation value; If the absolute value of the lateral offset distance of the second vehicle is smaller than the maximum straight lateral offset value, and the absolute value of the heading offset angle is smaller than the preset maximum straight heading offset angle, the driving intention of the second vehicle is to go straight.

5. The method for predicting vehicle driving intention according to claim 4, characterized in that: The current trajectory information also includes the first lane mark of the lane where the second vehicle is located at the current driving moment; the predicted trajectory information also includes the second lane mark of the predicted lane where the second vehicle is located at the target driving moment; The step of predicting the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle of the second vehicle comprises: When the first lane marker and the second lane marker of the second vehicle are different, calculating the product of the lane width and a preset lane-changing lateral deviation rate to obtain a maximum lane-changing lateral deviation value; If the absolute value of the lateral offset distance is less than the maximum lateral offset for lane change, and the absolute value of the heading offset angle is less than the preset maximum heading offset angle for lane change, the driving intention of the second vehicle is to change lanes; wherein, when the lateral offset distance is a negative number, the driving intention of the second vehicle is to change lanes to the left; when the lateral offset distance is a positive number, the driving intention of the second vehicle is to change lanes to the right.

6. The method for predicting vehicle driving intention according to claim 5, characterized in that: Based on the lateral offset distance and the heading offset angle of the second vehicle, the step of predicting the driving intention of the second vehicle further includes: Calculating the product of the lane width and a preset lateral steering deviation rate to obtain a maximum steering deviation value; If the absolute value of the lateral offset distance of the second vehicle is less than the maximum steering lateral offset, and the absolute value of the heading offset angle is less than the preset maximum steering heading offset angle, the driving intention of the second vehicle is turning; wherein, when the heading offset angle is a positive number, the driving intention of the second vehicle is turning left; when the heading offset angle is a negative number, the driving intention of the second vehicle is turning right.

7. The method for predicting vehicle driving intention according to claim 6, characterized in that: The step of predicting the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle of the second vehicle comprises: The driving intention of each of the second vehicles in the driving environment of the first vehicle is displayed on the display screen of the first vehicle for the driver to view; or, a path is planned for the first vehicle based on the driving intention of each of the second vehicles in the driving environment of the first vehicle, the position of the first vehicle at the current driving moment, and the destination information of the first vehicle.

8. A vehicle driving intention prediction device, characterized in that: It includes an acquisition module, a determination module and a prediction module; an acquisition module, for acquiring current track information and predicted track information of each second vehicle in the driving environment of the first vehicle; wherein the current track information includes the current position information and the current heading information of the second vehicle at the current driving time; the predicted track information includes the predicted position information and the predicted heading information of the second vehicle at the target driving time; the target driving time is located after the current driving time and is separated from the current driving time by a preset time length; A determination module, configured to determine a lateral offset distance of the second vehicle according to the current position information of the second vehicle and the predicted position information; and to determine a heading offset angle of the second vehicle according to the current heading information of the second vehicle and the predicted heading information; A prediction module is used to predict the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle of the second vehicle.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, a method for predicting vehicle driving intention as described in any one of claims 1 to 7 is executed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for predicting the vehicle driving intention as claimed in any one of claims 1 to 7 is executed.

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