The invention provides a predicted trajectory post-processing method, system and device and a medium, and the method comprises the steps: obtaining map data and a predicted trajectory of a target vehicle, and determining a target lane center line of a current driving lane of the target vehicle according to the map data; searching a corresponding subsequent lane center line in the map data according to the target lane center line, and splicing a road boundary line corresponding to the target lane center line with a road boundary line corresponding to the subsequent lane center line to obtain a to-be-discriminated road boundary line set; and converting the predicted trajectory into a coordinate system taking the road boundary line in the to-be-discriminated road boundary line set as a reference line, and correcting the predicted trajectory exceeding the road boundary line in the to-be-discriminated road boundary line set so as to enable the predicted trajectory to be in the corresponding road boundary line. It can be guaranteed that the predicted track can meet actual driving requirements, and driving safety is guaranteed.
本申请提供一种预测轨迹后处理方法、系统、设备和介质,该方法包括:获取地图数据以及目标车辆的预测轨迹,根据所述地图数据确定所述目标车辆当前行驶车道的目标车道中心线;根据所述目标车道中心线搜索所述地图数据中对应的后继车道中心线,将所述目标车道中心线的对应的道路边界线与所述后继车道中心线对应的道路边界线进行拼接,得到待判别道路边界线集合;将所述预测轨迹转换到以所述待判别道路边界线集合中的道路边界线为参考线的坐标系下,对超出所述待判别道路边界线集合中道路边界线的所述预测轨迹进行矫正以使所述预测轨迹在对应道路边界线内。本申请可保证预测轨迹可满足实际行车需求,保证行车安全。
Predicted trajectory post-processing method, system, equipment and medium
一种预测轨迹后处理方法、系统、设备和介质
2023-05-09
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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