The invention discloses a vehicle track prediction method based on long and short time motion track fusion, comprising the following steps: obtaining historical position information of a target vehicle and lane information of the target vehicle wherein the lane information of the target vehicle is obtained by extracting a historical motion track of the target vehicle in a past short time T according to the current position of the target vehicle; the lane line and the lane center line correspond to the historical motion trail; short-time trajectory prediction based on kinematics and long-time trajectory prediction based on behavior trend are respectively carried out based on the historical position information of the target vehicle and the lane information of the target vehicle; fusing a short-time trajectory prediction result and a long-time trajectory prediction result to obtain a future trajectory fusion representation; and obtaining a surrounding vehicle trajectory prediction result based on future trajectory fusion representation. The invention further discloses a corresponding system, electronic equipment and a computer readable storage medium, so that trajectory prediction does not depend on a training set, prediction accuracy is considered, calculation is simple, and real-time performance is controllable.
本发明公开一种基于长短时运动轨迹融合的车辆轨迹预测方法,包括:获取目标车辆的历史位置信息以及目标车辆的车道信息,其中目标车辆的车道信息为根据目标车辆当前的位置,提取目标车辆过去一短时间T内的历史运动轨迹,与历史运动轨迹相对应的车道线及车道中心线;基于目标车辆的历史位置信息和目标车辆的车道信息分别进行基于运动学的短时轨迹预测和基于行为趋势的长时轨迹预测;将短时轨迹预测的结果与长时轨迹预测的结果进行融合获得未来轨迹融合表征;并基于未来轨迹融合表征获得周边车辆轨迹预测结果。还公开了对应系统、电子设备及计算机可读存储介质,使得轨迹预测不依赖于训练集、考虑了预测的准确性、并且计算简单,实时性可控。
Peripheral vehicle track prediction method and system based on long and short time motion track fusion
一种基于长短时运动轨迹融合的周边车辆轨迹预测方法及系统
2022-12-13
Patent
Electronic Resource
Chinese
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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