The invention belongs to the technical field of automatic driving, and provides a prediction track generation method and device, a controller, a medium and mobile equipment, and the generation method comprises the steps: firstly obtaining a plurality of track points of a first prediction track of the mobile equipment; sampling the Gaussian distribution area where each track point is located through at least one sampling mode, and determining at least one sampling point in each Gaussian distribution area; and finally, performing trajectory fitting based on the current position point of the first prediction trajectory and at least one sampling point in each Gaussian distribution area to obtain at least one second prediction trajectory. Therefore, the multiple sampling points can be sampled in the Gaussian distribution area representing the uncertainty information by using the multiple track points in the first prediction track, and the sampling points are fitted into the at least one second prediction track, so that the diversity of the prediction tracks is increased on the premise of conforming to the actual motion track of the mobile equipment without relying on a grid map.

    本申请属于自动驾驶技术领域,提供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,所述生成方法首先获得移动设备的第一预测轨迹的多个轨迹点;然后通过至少一种采样方式对每一轨迹点所在的高斯分布区域进行采样,在每一高斯分布区域确定至少一个采样点;最后基于所述第一预测轨迹的当前位置点以及每一高斯分布区域中的至少一个采样点进行轨迹拟合,得到至少一条第二预测轨迹。因此,本申请能够利用第一预测轨迹中的多个轨迹点在表征不确定性信息的高斯分布区域内采样出多个采样点,并拟合成至少一条第二预测轨迹,无需依靠栅格地图,在符合移动设备的实际运动轨迹的前提下,增加了预测轨迹的多样性。


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    Title :

    Predicted trajectory generation method and device, controller, medium and mobile equipment


    Additional title:

    预测轨迹的生成方法及其装置、控制器、介质及移动设备


    Contributors:

    Publication date :

    2024-11-05


    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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