A method, apparatus, device, and storage medium for predicting vehicle driving intentions.

Abstract

This invention belongs to the field of vehicle driving technology, specifically providing a method, apparatus, device, and storage medium for predicting vehicle driving intention. The method includes the following steps: acquiring the current trajectory information and predicted trajectory information of each second vehicle in the surrounding environment of a first vehicle; determining the lateral offset distance of the second vehicle based on its current position information and the predicted position information; determining the heading offset angle of the second vehicle based on its current heading information and the predicted heading information; and predicting the driving intention of the second vehicle based on its lateral offset distance and heading offset angle. Automatically predicting the future driving intentions of each second vehicle surrounding the first vehicle helps assist the driver of the first vehicle in better driving the first vehicle, avoiding collisions with the second vehicles, and improving the safety of the first vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle driving technology, and specifically to a method, apparatus, device, and storage medium for predicting vehicle driving intention. Background Technology

[0002] With the continuous increase in vehicle ownership, road traffic conditions are becoming increasingly complex. Therefore, drivers need to be aware of the driving intentions of surrounding vehicles to improve driving safety.

[0003] Currently, driving is typically based on the driver's visual observation of the surrounding vehicles' current driving behavior. This method has two drawbacks: firstly, it consumes the driver's attention, affecting safe driving; secondly, the driver can only understand the current driving behavior of surrounding vehicles and cannot predict their future driving intentions.

[0004] Autonomous vehicles typically rely on various sensors installed on the vehicle to detect the relative positions of surrounding vehicles, enabling them to plan their routes. However, these other vehicles are constantly moving. If only the relative positions of surrounding vehicles are used for route planning, the accuracy of the path planning may be low, thus affecting the safety of the autonomous vehicle. Summary of the Invention

[0005] To address the aforementioned problems, the present invention provides a method, apparatus, device, and storage medium for predicting vehicle driving intentions.

[0006] In a first aspect, the present invention provides a method for predicting vehicle driving intention, comprising the following steps:

[0007] The current trajectory information and predicted trajectory information of each second vehicle in the surrounding environment of the first vehicle are obtained; wherein, the current trajectory information includes the current position information and current heading information of the second vehicle at the current driving time; the predicted trajectory information includes the predicted position information and 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 interval;

[0008] Based on the current position information of the second vehicle and the predicted position information, the lateral offset distance of the second vehicle is determined;

[0009] And based on the current and predicted heading information of the second vehicle, determine the heading offset angle of the second vehicle;

[0010] Based on the lateral offset distance and heading offset angle of the second vehicle, the driving intention of the second vehicle is predicted.

[0011] 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 the world coordinate system. The step of determining the lateral offset distance of the second vehicle based on the current position information and the predicted position information includes:

[0012] The current position information of the second vehicle is transformed into the 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 transformed 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 horizontal 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; the second position information includes the second horizontal coordinate of the second vehicle in the target coordinate system.

[0013] Calculate the difference between the second horizontal coordinate and the first horizontal coordinate to obtain the lateral offset distance of the second vehicle.

[0014] As a further limitation of the technical solution of the present invention, the step of determining the heading offset angle of the second vehicle based on the current heading information and the predicted heading information of the second vehicle includes:

[0015] The difference between the predicted heading information and the current heading information of the second vehicle is calculated to obtain the heading offset angle of the second vehicle.

[0016] 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 travel time; the step of determining the heading offset angle of the second vehicle based on the current heading information and the predicted heading information of the second vehicle includes:

[0017] Calculate the product of the lane width and the preset straight-ahead lateral offset rate to obtain the maximum straight-ahead lateral offset;

[0018] If the absolute value of the lateral offset distance of the second vehicle is less than the maximum value of the straight lateral offset, 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.

[0019] As a further limitation of the technical solution of the present invention, the current trajectory information also includes a first lane identifier of the lane where the second vehicle is located at the current travel time; the predicted trajectory information also includes a second lane identifier of the predicted lane where the second vehicle is located at the target travel time; the step of predicting the driving intention of the second vehicle based on the lateral offset distance and heading offset angle of the second vehicle includes:

[0020] When the first lane marking of the second vehicle is different from the second lane marking, the product between the lane width and the preset lane change lateral offset rate is calculated to obtain the maximum lane change lateral offset.

[0021] If the absolute value of the lateral offset distance is less than the maximum lateral offset of the 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 negative, the driving intention of the second vehicle is to change lanes to the left; when the lateral offset distance is positive, the driving intention of the second vehicle is to change lanes to the right.

[0022] 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 heading offset angle of the second vehicle further includes:

[0023] Calculate the product between the lane width and the preset lateral steering offset rate to obtain the maximum steering offset;

[0024] If the absolute value of the lateral offset distance of the second vehicle is less than the maximum value of the lateral offset of the steering, and the absolute value of the heading offset angle is less than the preset maximum heading offset angle of the steering, then the driving intention of the second vehicle is to turn; wherein, when the heading offset angle is positive, the driving intention of the second vehicle is to turn left; when the heading offset angle is negative, the driving intention of the second vehicle is to turn right.

[0025] 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 heading offset angle of the second vehicle includes:

[0026] The driving intentions of each of the second vehicles in the surrounding environment of the first vehicle are displayed on the display screen of the first vehicle for the driver to view; or, based on the driving intentions of each of the second vehicles in the surrounding environment of the first vehicle, the position of the first vehicle at the current driving time, and the destination information of the first vehicle, a route is planned for the first vehicle.

[0027] Secondly, the present invention provides a vehicle driving intention prediction device, including an acquisition module, a determination module and a prediction module;

[0028] The acquisition module is used to acquire 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 time; the predicted trajectory information includes the predicted position information and 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 spaced apart from the current driving time by a preset time interval;

[0029] The determining module is used to determine the lateral offset distance of the second vehicle based on the current position information and the predicted position information of the second vehicle; and to determine the heading offset angle of the second vehicle based on the current heading information and the predicted heading information of the second vehicle.

[0030] The prediction module is used to predict the driving intention of the second vehicle based on the lateral offset distance and heading offset angle of the second vehicle.

[0031] Thirdly, 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 communicates with the memory via the bus, and when the machine-readable instructions are executed by the processor, the vehicle driving intention prediction method as described in the first aspect is executed.

[0032] Fourthly, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the vehicle driving intention prediction method as described in the first aspect.

[0033] As can be seen from the above technical solution, the present invention has the following advantages: It automatically predicts the future driving intentions of each of the second vehicles surrounding the first vehicle, which helps assist the driver of the first vehicle in driving the first vehicle better, avoiding collisions with the second vehicles, and improving the safety of the first vehicle. If the first vehicle is an unmanned vehicle, then predicting the future driving intentions of the surrounding second vehicles helps the first vehicle to plan its route more accurately, thereby preventing collisions with the second vehicles during driving and improving the safety of the first vehicle.

[0034] Furthermore, the design principle of this invention is reliable, the structure is simple, and it has a very wide range of application prospects. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic flowchart of a method according to an embodiment of the present invention.

[0037] Figure 2 This is a flowchart illustrating the process of determining the lateral offset distance of the second vehicle in an embodiment of the present invention.

[0038] Figure 3 This is a schematic block diagram of an apparatus according to an embodiment of the present invention. Detailed Implementation

[0039] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0040] To facilitate understanding of this embodiment, a method for predicting vehicle driving intention disclosed in this application will first be described in detail. This method is applied to a first vehicle. Figure 1 A flowchart illustrating a method for predicting vehicle driving intention provided in an embodiment of this application is shown, as follows: Figure 1 As shown, it includes the following steps:

[0041] S101: At each moment of travel during the first vehicle's travel, acquire 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 travel moment; the predicted trajectory information includes the predicted position information and predicted heading information of the second vehicle at the target travel moment; the target travel moment is located after the current travel moment and is spaced apart from the current travel moment by a preset time interval.

[0042] In this embodiment, the first vehicle can be an autonomous vehicle or a vehicle driven by a driver. At each moment of travel, when at least one second vehicle is detected in the environment surrounding the first vehicle, the current trajectory information and predicted trajectory information of each second vehicle in the environment surrounding the first vehicle are acquired. If no second vehicle is detected in the environment surrounding the first vehicle, that is, if there are no other vehicles around the first vehicle, then it is not necessary to acquire the current trajectory information and predicted trajectory information of each second vehicle in the environment surrounding the first vehicle.

[0043] The interval between two adjacent travel moments can be a first preset duration, for example, one second. The environment surrounding the first vehicle can refer to a circular area with a preset radius centered on the first vehicle; or it can be an area that can be sensed by the various sensors of the first vehicle. The second vehicle is located in the environment surrounding the first vehicle, meaning that the second vehicle is a vehicle surrounding the first vehicle, and the second vehicle is not the same vehicle as the first vehicle. As the first vehicle travels, the second vehicle in the environment surrounding the first vehicle may be the same or different at different travel moments.

[0044] Each second vehicle has its own current trajectory information and predicted trajectory information. The current trajectory information includes the current position and current heading information of the second vehicle at the current moment of travel. Among them, the current heading information refers to the current direction of travel of the second vehicle.

[0045] The predicted trajectory information includes the predicted position and heading of the second vehicle at the target travel time. This predicted trajectory information can be obtained through a pre-trained prediction model. The target travel time is a future time of the current travel time, and the time interval between the current travel time and the current travel time is preset. The preset duration can be a preset number of seconds, for example, 3 seconds.

[0046] S102: For each second vehicle, determine the lateral offset distance of the second vehicle based on its current position information and predicted position information; and determine the heading offset angle of the second vehicle based on its current heading information and predicted heading information.

[0047] In one possible implementation, the current position information and the predicted position information are position information in the world coordinate system; when performing step S102, for each second vehicle, determining the lateral offset distance of the second vehicle based on its current position information and predicted position information, such as... Figure 2 As shown, the specific steps S1021-S1022 can be performed as follows:

[0048] S1021: Transform the current position information of the second vehicle to the target coordinate system to obtain the first position information of the second vehicle in the target coordinate system, and transform the predicted position information of the second vehicle to 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 horizontal 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; the second position information includes the second horizontal coordinate of the second vehicle in the target coordinate system.

[0049] In this embodiment, since the current location information and the predicted location information are location information in the world coordinate system, they are specifically latitude and longitude information. This embodiment requires converting the current location information and the predicted location information in the world coordinate system to the target coordinate system in order to calculate the lateral offset distance of the second vehicle.

[0050] Specifically, a target coordinate system is established based on the position and heading of the first vehicle at the current moment of travel. The origin of this target coordinate system is the position of the first vehicle at the current moment of travel, and the horizontal axis is the heading of the first vehicle at the current moment of travel.

[0051] In this embodiment, the first position information of the second vehicle in the target coordinate system at the current driving time is calculated using the following formula:

[0052] x_1^'=dx_1 cosa-dy_1 sina

[0053] y_1^'=dx_1 sina-dy_1 cosa

[0054] dx_1 = x_1 - x_0

[0055] dy_1=y_1-y_0

[0056] Where (x0, y0) represents the position of the first vehicle at the current driving time; a represents the heading of the first vehicle at the current driving time; (x1, y1) represents the current position information of the second vehicle at the current driving time; (x_1^', y_1^') represents the first position information of the second vehicle in the target coordinate system at the current driving time; and x_1^' represents the first x-coordinate of the second vehicle in the target coordinate system at the current driving time.

[0057] Similarly, the second position information of the second vehicle in the target coordinate system at the target travel time is calculated using the following formula:

[0058] x_2^'=dx_2 cosa-dy_2 sina

[0059] y_2^'=dx_2 sina-dy_2 cosa

[0060] dx_2 = x_2 - x_0

[0061] dy_2=y_2-y_0

[0062] Where (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; and x_2^' represents the second abscissa of the second vehicle in the target coordinate system at the target driving time.

[0063] S1022: Calculate the difference between the second horizontal coordinate and the first horizontal coordinate to obtain the lateral offset distance of the second vehicle.

[0064] In this embodiment, the lateral offset distance d1 = x_2^' - x_1^'.

[0065] In one possible implementation, when performing step S102 to determine the heading offset angle of the second vehicle based on the current heading information and the predicted heading information of the second vehicle, the specific steps can be as follows:

[0066] The difference between the predicted heading information and the current heading information of the second vehicle is calculated to obtain the heading offset angle of the second vehicle.

[0067] In this embodiment, the heading of the first vehicle at the current travel time is taken as the original direction, and the angle between the current heading of the second vehicle at the current travel time 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 travel time 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 travel time 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 travel time is perpendicular to the original direction; therefore, the predicted heading information of the second vehicle in this example is 90 degrees.

[0068] S103: Based on the lateral offset distance and heading offset angle of the second vehicle, predict the driving intention of the second vehicle.

[0069] In this embodiment, the driving intention is: to go straight, to change lanes, or to turn. Going straight refers to traveling in a straight line within the same lane. Changing lanes means moving from one lane to another while maintaining the same direction of travel; this includes changing lanes to the left or right. Turning refers to changing the direction of travel, including turning left or right.

[0070] In one possible implementation, the current trajectory information also includes the lane width of the lane where the second vehicle is located at the current travel time; when executing step S103, the following steps S1031-S1032 can be specifically executed:

[0071] S1031: Calculate the product of the lane width and the preset straight lateral offset rate to obtain the maximum straight lateral offset.

[0072] In this embodiment, the preset straight-line lateral offset rate is in the range of 0-1, and more preferably, the range is 0.25-0.75. For example, it can be 0.5.

[0073] Calculate the product of the lane width and the preset straight lateral offset rate, and use the result of the product as the maximum straight lateral offset.

[0074] S1032: If the absolute value of the lateral offset distance of the second vehicle is less than the maximum value of the straight lateral offset, and the absolute value of the heading offset angle is less than the preset maximum angle of the straight heading offset, then the driving intention of the second vehicle is to go straight.

[0075] In one possible implementation, the current trajectory information further includes the first lane identifier of the lane where the second vehicle is located at the current travel time; the predicted trajectory information further includes the second lane identifier of the predicted lane where the second vehicle is located at the target travel time; when executing step S103, the following steps S1033-S1034 can also be performed:

[0076] S1033: When the first lane marking of the second vehicle is different from the second lane marking, calculate the product between the lane width and the preset lane change lateral offset rate to obtain the maximum lane change lateral offset.

[0077] In this embodiment, when the first lane marking of the second vehicle is different from the second lane marking, 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 use the result of the product as the maximum value of the lane change lateral offset.

[0078] The preset lateral offset rate for lane changes ranges from 0 to 1, and more preferably, it can range from 0.25 to 0.75. For example, a value of 0.5 is acceptable.

[0079] 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 negative, the driving intention of the second vehicle is to change lanes to the left; when the lateral offset distance is positive, the driving intention of the second vehicle is to change lanes to the right.

[0080] In this embodiment, the second vehicle's driving intention is to change lanes only when all three conditions are met simultaneously: 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 of the lane change, and the absolute value of the heading offset angle is less than the preset maximum heading offset angle of the lane change.

[0081] In one possible implementation, when performing step S103, the following steps S1035-S1036 may also be performed:

[0082] S1035: Calculate the product between the lane width and the preset steering lateral offset rate to obtain the maximum steering offset.

[0083] The lateral offset rate of the steering can range from 0 to 1, or more preferably from 0.5 to 1. For example, a value of 0.75 is acceptable.

[0084] S1036: If the absolute value of the lateral offset distance of the second vehicle is less than the maximum value of the lateral offset of the steering, and the absolute value of the heading offset angle is less than the preset maximum heading offset angle of the steering, then the driving intention of the second vehicle is to turn; wherein, when the heading offset angle is positive, the driving intention of the second vehicle is to turn left; when the heading offset angle is negative, the driving intention of the second vehicle is to turn right.

[0085] In one possible implementation, after step S103 is completed, the following steps may also be performed:

[0086] When the first vehicle is a vehicle driven by a driver, the driving intentions of each second vehicle in the surrounding environment of the first vehicle are displayed on the display screen of the first vehicle for the driver to view.

[0087] Alternatively, when the first vehicle is an autonomous vehicle, path planning is performed for the first vehicle based on the driving intentions of each second vehicle in the surrounding environment, the current position of the first vehicle, and the destination information of the first vehicle.

[0088] Based on the same technical concept, this application also provides a device for predicting vehicle driving intention. Figure 3 This application provides a schematic diagram of the structure of a vehicle driving intention prediction device according to an embodiment of the present application. Figure 3 As shown, the device includes:

[0089] The acquisition module 301 is used to acquire, at each moment during the driving process of the first vehicle, 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 spaced apart from the current driving moment by a preset time interval;

[0090] The determining module 302 is configured to, for each of the second vehicles, determine the lateral offset distance of the second vehicle based on the current position information and the predicted position information of the second vehicle; and determine the heading offset angle of the second vehicle based on the current heading information and the predicted heading information of the second vehicle.

[0091] 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.

[0092] Optionally, the current position information and the predicted position information are position information in the world coordinate system; the determining module 302, when determining the lateral offset distance of each second vehicle based on its current position information and predicted position information, is specifically used for:

[0093] The current position information of the second vehicle is transformed 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 transformed 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 time, and the horizontal axis of the target coordinate system is the heading of the first vehicle at the current driving time; the first position information includes the first horizontal coordinate of the second vehicle in the target coordinate system; the second position information includes the second horizontal coordinate of the second vehicle in the target coordinate system.

[0094] The difference between the second horizontal coordinate and the first horizontal coordinate is calculated to obtain the lateral offset distance of the second vehicle.

[0095] Optionally, when determining the heading offset angle of the second vehicle based on the current heading information and the predicted heading information, the determining module 302 is specifically used for:

[0096] The difference between the predicted heading information and the current heading information of the second vehicle is calculated to obtain the heading offset angle of the second vehicle.

[0097] Optionally, the current trajectory information also includes the lane width of the lane where the second vehicle is located at the current driving time; when the prediction module 303 predicts the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle, it is specifically used for:

[0098] Calculate the product of the lane width and the preset straight-ahead lateral offset rate to obtain the maximum straight-ahead lateral offset;

[0099] If the absolute value of the lateral offset distance of the second vehicle is less than the maximum value of the straight lateral offset, and the absolute value of the heading offset angle is less than the preset maximum angle of the straight heading offset, then the driving intention of the second vehicle is to go straight.

[0100] Optionally, the current trajectory information further includes a first lane identifier of the lane where the second vehicle is located at the current travel time; the predicted trajectory information further includes a second lane identifier of the predicted lane where the second vehicle is located at the target travel time; when the prediction module 303 predicts the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle, it is further used to:

[0101] When the first lane marking of the second vehicle is different from the second lane marking, the product between the lane width and the preset lane change lateral offset rate is calculated to obtain the maximum lane change lateral offset.

[0102] If the absolute value of the lateral offset distance is less than the maximum lateral offset of the 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 negative, the driving intention of the second vehicle is to change lanes to the left; when the lateral offset distance is positive, the driving intention of the second vehicle is to change lanes to the right.

[0103] Optionally, when predicting the driving intention of the second vehicle based on the lateral offset distance and the heading offset angle, the prediction module 303 is further configured to:

[0104] Calculate the product between the lane width and the preset lateral steering offset rate to obtain the maximum steering offset;

[0105] If the absolute value of the lateral offset distance of the second vehicle is less than the maximum value of the lateral offset, and the absolute value of the heading offset angle is less than the preset maximum heading offset angle, then the driving intention of the second vehicle is to turn; wherein, when the heading offset angle is positive, the driving intention of the second vehicle is to turn left; when the heading offset angle is negative, the driving intention of the second vehicle is to turn right.

[0106] Optionally, the device further includes: a display module, configured to display the driving intention of each of the second vehicles in the environment surrounding the first vehicle onto the display screen of the first vehicle 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, for the driver to view;

[0107] Alternatively, the planning module is configured to, 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, perform path planning for the first vehicle according to 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 time, and the destination information of the first vehicle.

[0108] An electronic device provided in this application includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs the above-described information processing method, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the method described in Embodiment 1.

[0109] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps described in the above embodiments.

[0110] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, electronic devices, and computer-readable storage media described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0111] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0112] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0113] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0114] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0115] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the claims.

[0116] Although the present invention has been described in detail with reference to the accompanying drawings and preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made to the embodiments of the present invention by those skilled in the art without departing from the spirit and essence of the invention, and such modifications or substitutions should all be within the scope of the present invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should also be covered within the protection scope of the present invention.

Claims

1. A method of predicting a driving intention of a vehicle, characterized by, Includes the following steps: The current trajectory information and predicted trajectory information of each second vehicle in the surrounding environment of the first vehicle are obtained; wherein, the current trajectory information includes the current position information and current heading information of the second vehicle at the current driving time; the predicted trajectory information includes the predicted position information and 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 interval; Based on the current position information of the second vehicle and the predicted position information, the lateral offset distance of the second vehicle is determined; And based on the current and predicted heading information of the second vehicle, determine the heading offset angle of the second vehicle; Based on the lateral offset distance and heading offset angle of the second vehicle, the driving intention of the second vehicle is predicted; The current trajectory information also includes the lane width of the lane where the second vehicle is located at the current travel time; the steps to determine the heading offset angle of the second vehicle based on its current heading information and predicted heading information include: Calculate the product of the lane width and the preset straight-ahead lateral offset rate to obtain the maximum straight-ahead lateral offset; If the absolute value of the lateral offset distance of the second vehicle is less than the maximum value of the straight lateral offset, and the absolute value of the heading offset angle is less than the preset maximum angle of the straight heading offset, then the driving intention of the second vehicle is to go straight. The current trajectory information also includes the first lane identifier of the lane where the second vehicle is located at the current travel time; the predicted trajectory information also includes the second lane identifier of the predicted lane where the second vehicle is located at the target travel time; the step of predicting the driving intention of the second vehicle based on its lateral offset distance and heading offset angle includes: When the first lane marking of the second vehicle is different from the second lane marking, the product between the lane width and the preset lane change lateral offset rate is calculated to obtain the maximum lane change lateral offset. If the absolute value of the lateral offset distance is less than the maximum lateral offset of the 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 negative, the driving intention of the second vehicle is to change lanes to the left; when the lateral offset distance is positive, the driving intention of the second vehicle is to change lanes to the right. The step of predicting the driving intention of the second vehicle based on its lateral offset distance and heading offset angle further includes: Calculate the product between the lane width and the preset lateral steering offset rate to obtain the maximum steering offset; If the absolute value of the lateral offset distance of the second vehicle is less than the maximum value of the lateral offset of the steering, and the absolute value of the heading offset angle is less than the preset maximum heading offset angle of the steering, then the driving intention of the second vehicle is to turn; wherein, when the heading offset angle is positive, the driving intention of the second vehicle is to turn left; when the heading offset angle is negative, the driving intention of the second vehicle is to turn right.

2. The method of predicting a travel intention of a vehicle according to claim 1, characterized by, The current location information and the predicted location information are location information in the world coordinate system. The steps for determining the lateral offset distance of the second vehicle based on its current location information and the predicted location information include: The current position information of the second vehicle is transformed into the 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 transformed 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 horizontal 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; the second position information includes the second horizontal coordinate of the second vehicle in the target coordinate system. Calculate the difference between the second horizontal coordinate and the first horizontal coordinate to obtain the lateral offset distance of the second vehicle.

3. The method of predicting a travel intention of a vehicle according to claim 2, characterized by, The steps for determining the heading offset angle of the second vehicle based on its current heading information and predicted heading information include: The difference between the predicted heading information and the current heading information of the second vehicle is calculated to obtain the heading offset angle of the second vehicle.

4. The method for predicting vehicle driving intention according to claim 3, characterized in that, The step of predicting the driving intention of the second vehicle based on its lateral offset distance and heading offset angle includes: The driving intentions of each of the second vehicles in the surrounding environment of the first vehicle are displayed on the display screen of the first vehicle for the driver to view; or, based on the driving intentions of each of the second vehicles in the surrounding environment of the first vehicle, the position of the first vehicle at the current driving time, and the destination information of the first vehicle, a route is planned for the first vehicle.

5. A device for predicting vehicle driving intention to implement the method of any one of claims 1-4, characterized in that, It includes an acquisition module, a determination module, and a prediction module; The acquisition module is used to acquire 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 time; the predicted trajectory information includes the predicted position information and 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 spaced apart from the current driving time by a preset time interval; The determining module is used to determine the lateral offset distance of the second vehicle based on the current position information and the predicted position information of the second vehicle; and to determine the heading offset angle of the second vehicle based on the current heading information and the predicted heading information of the second vehicle. The prediction module is used to predict the driving intention of the second vehicle based on the lateral offset distance and heading offset angle of the second vehicle.

6. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the prediction method for vehicle driving intention as described in any one of claims 1 to 4 is performed.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the method for predicting vehicle driving intention as described in any one of claims 1 to 4.

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