The invention provides a trajectory prediction method and device, electronic equipment and a storage medium, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining a first monitoring trajectory of a first obstacle around a target vehicle in a first target sampling time period, obtaining at least one section of historical prediction trajectory of the first obstacle, and obtaining at least one section of historical prediction trajectory of the first obstacle; according to a second monitoring track of a first obstacle in a historical sampling period before a first target sampling period, a track of the first obstacle after the second monitoring track is predicted, and feature fusion is performed on the first monitoring track of the first obstacle and at least one historical prediction track to obtain a fused track feature. The first predicted trajectory of the first obstacle after the first monitoring trajectory is predicted according to the fused trajectory feature, and the first predicted trajectory after the first monitoring trajectory is predicted through the fused trajectory feature, so that the first predicted trajectory is smoothed based on the historical predicted trajectory, and the accuracy of continuous trajectory prediction is improved.

    本申请提出一种轨迹预测方法、装置、电子设备和存储介质,涉及自动驾驶技术领域,其中,方法包括:获取目标车辆周围的第一障碍物在第一目标采样时段的第一监测轨迹,获取第一障碍物的至少一段历史预测轨迹,历史预测轨迹,是根据第一障碍物在第一目标采样时段之前的历史采样时段的第二监测轨迹,对第一障碍物在第二监测轨迹之后的轨迹进行预测得到的,将第一障碍物的第一监测轨迹和至少一段历史预测轨迹进行特征融合得到融合轨迹特征,根据融合轨迹特征预测得到第一障碍物在第一监测轨迹之后的第一预测轨迹,通过融合轨迹特征预测第一监测轨迹之后的第一预测轨迹,实现了基于历史预测轨迹对第一预测轨迹进行平滑,提高了连续轨迹预测的准确性。


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    Title :

    Trajectory prediction method and device, electronic equipment and storage medium


    Additional title:

    轨迹预测方法、装置、电子设备和存储介质


    Contributors:
    LAI ZHIYI (author)

    Publication date :

    2022-09-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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