The invention relates to the technical field of automatic driving, in particular to a trajectory tracking method and device for a vehicle, and the method comprises the steps: obtaining a state prediction value of at least one tracking target in a current environment; detecting whether at least one current measurement value meeting an association condition of at least one tracking target exists in the current environment based on the state prediction value; and if at least one current measurement value meeting the association condition exists, updating a state prediction value of the corresponding tracking target based on the at least one current measurement value so as to generate a tracking trajectory by using the updated state prediction value, otherwise, tracking the corresponding tracking target according to the non-association time of the at least one tracking target. According to the multi-target trajectory tracking method and device, under the condition that multiple targets are tracked, rapid matching between the multiple targets and the current measurement value can be achieved by adding the continuation state of the tracked target, multi-target trajectory tracking is achieved, the calculation efficiency of multi-target trajectory tracking is improved, and the multi-target trajectory tracking method and device are more accurate and reliable.
本申请涉及自动驾驶技术领域,特别涉及一种车辆的轨迹跟踪方法及装置,其中,方法包括:获取当前环境中至少一个跟踪目标的状态预测值;基于状态预测值,检测当前环境中是否存在至少一个当前量测值满足至少一个跟踪目标的关联条件;若存在至少一个当前量测值满足关联条件,则基于至少一个当前量测值更新对应跟踪目标的状态预测值,以利用更新后的状态预测值生成跟踪轨迹,否则,根据至少一个跟踪目标的非关联时间跟踪对应跟踪目标。本申请可以在跟踪多个目标的情况下,通过添加跟踪目标的延续状态,实现多个目标和当前量测值之间的快速匹配,实现多目标的轨迹跟踪,提高了多目标轨迹跟踪的计算效率,更加准确可靠。
Trajectory tracking method and device of vehicle
车辆的轨迹跟踪方法及装置
2024-05-28
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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