The invention discloses a road participant trajectory prediction method considering environmental information, and belongs to the technical field of intelligent driving, parallelism calculation is a calculation method used for screening trajectories capable of being fused in a lane line fusion algorithm, and by accumulating the parallelism of each trajectory and other trajectories on a road, the trajectory can be predicted. And verifying the spatial similarity of the two curves in a polar coordinate system. Whether the road participant travels on the following road or not is judged by calculating the parallelism between the historical track of the road participant and the road information. The method comprises the following steps: firstly, performing parallelism inspection by using a historical track of a road target and road environment information, and judging whether the target travels along a road; secondly, predicting a long-term track of a target meeting the requirement of driving along with a road by combining a kinematic model and environment information; a large number of road data tests show that the method improves the accuracy of low-cost road target trajectory prediction.
本发明公开了一种考虑环境信息的道路参与者轨迹预测方法,属于智能驾驶技术领域,平行度计算是用于车道线融合算法中筛选可以进行融合的轨迹的计算方法,通过累积每条轨迹与道路上其它轨迹的平行度,在极坐标系下验证两个曲线的空间相似性。通过计算道路参与者的历史轨迹与道路信息的平行度,从而判断该道路参与者是否在跟随道路行驶。本发明首先通过使用道路目标的历史轨迹与道路环境信息进行平行度检查,判断目标是否跟随道路行驶;然后针对满足跟随道路行驶的目标,结合运动学模型和环境信息预测目标的长期轨迹;通过大量道路数据测试表明,该方法提升了低成本的道路目标轨迹预测的准确率。
Road participant trajectory prediction method considering environmental information
一种考虑环境信息的道路参与者轨迹预测方法
2024-12-27
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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