The embodiment of the invention discloses a vehicle motion track prediction method and system, and the method comprises the steps: constructing a topological structure chart according to map information, carrying out the traversing of the topological structure chart, obtaining a drivable lane sequence around a target vehicle, and carrying out the fitting of a trend track for each target vehicle through employing the perception information of the target vehicle, and calculating the cost from the target vehicle to each drivable lane sequence of the target vehicle by combining the historical trajectory, and for each target vehicle, finally generating a preset number of prediction trajectories with the maximum probability of the target vehicle by using the cost. The prediction method is a prediction scheme based on rules and structures, the algorithm consumption is low, the deployment is simple, and the prediction requirement of the actual trajectory can be met. In addition, the topological structure chart is constructed in combination with priori knowledge such as map information and topological relation, and the kinematics prediction accuracy can be improved; in addition, the prediction trajectory is generated based on the probability, and the distribution characteristics of the prediction trajectory can be qualitatively and quantitatively reflected.
本申请实施例公开了一种车辆运动轨迹预测方法及系统,根据地图信息构建拓扑结构图,从而遍历拓扑结构图从中得到目标车辆周围的可行驶车道序列,然后针对每个目标车辆,利用该目标车辆的感知信息拟合出趋势轨迹,再结合历史轨迹计算该目标车辆到自身的每个可行驶车道序列的代价,针对每个目标车辆,利用代价最终生成该目标车辆概率最大的预设数量条预测轨迹。本申请的预测方法是基于规则和结构的预测方案,算法消耗少,部署简单,能满足实际轨迹的预测需求。并且本申请结合地图信息以及拓扑关系等先验知识构建拓扑结构图,可以提升运动学预测的准确性;此外,本申请基于概率生成预测轨迹,可以定性定量体现出预测轨迹的分布特征。
Vehicle motion trail prediction method and system
一种车辆运动轨迹预测方法及系统
2025-02-25
Patent
Electronic Resource
Chinese
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