The invention belongs to the technical field of automatic driving, and provides a prediction track generation method, a prediction track generation device, a controller, a medium and mobile equipment. Obtaining prediction points, output by the neural network model, of the target obstacle at at least two different future moments; then, on the basis of the perception data, binding each prediction point and an associated lane of each prediction point in map data, so that the prediction points have map semantic information; based on map semantic information, determining a lane relationship between each prediction point and a target lane where the target obstacle is located; and finally, based on a constraint condition corresponding to the lane relationship, using the target point to generate a prediction trajectory of the target obstacle. The prediction trajectory can be generated based on map semantics and constraint conditions based on the neural network model as data drive, so that the prediction trajectory is more reasonable.
本申请属于自动驾驶技术领域,提供了一种预测轨迹的生成方法及其装置、控制器、介质及移动设备,方法首先将当前时刻获得的目标障碍物的感知数据以及地图数据输入到神经网络模型中,得到神经网络模型输出的目标障碍物在至少两个不同未来时刻的预测点;然后基于感知数据,分别绑定每一预测点与每一预测点在地图数据中的关联车道,以使预测点具有地图语义信息;之后基于地图语义信息,分别确定每一预测点与目标障碍物所在目标车道的车道关系;最后基于车道关系所对应的约束条件,使用目标点生成目标障碍物的预测轨迹。能够基于神经网络模型作为数据驱动,基于地图语义和约束条件生成预测轨迹,使得预测轨迹更加合理。
Predicted trajectory generation method and device, controller, medium and mobile equipment
预测轨迹的生成方法及其装置、控制器、介质及移动设备
03.12.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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