The embodiment of the invention provides a barrier vehicle trajectory prediction method and device, a vehicle and a storage medium, and relates to the technical field of automatic driving. The method comprises the following steps: acquiring longitudinal initial state information of a barrier vehicle, a longitudinal driving intention of the barrier vehicle and longitudinal end state information corresponding to the longitudinal driving intention; determining a longitudinal polynomial and a longitudinal state transition duration according to the longitudinal initial state information, the longitudinal driving intention and the longitudinal end state information; under the condition that the longitudinal state transition duration is smaller than the preset duration, predicting a first longitudinal track of the obstacle vehicle according to the longitudinal polynomial, starting timing and obtaining a first timing duration; when the first timing duration reaches the longitudinal state transition duration, predicting a second longitudinal track of the obstacle vehicle according to the state information of the end point of the first longitudinal track until the first timing duration reaches a preset duration, and splicing the first longitudinal track and the second longitudinal track to form a longitudinal prediction track of the obstacle vehicle, the accuracy of obstacle vehicle trajectory prediction can be improved.
本申请实施例提供的障碍车轨迹预测方法和装置、车辆、存储介质,涉及自动驾驶技术领域。该方法通过获取障碍车的纵向初始状态信息、障碍车的纵向行驶意图、与纵向行驶意图对应的纵向终末状态信息;根据纵向初始状态信息、纵向行驶意图、纵向终末状态信息,确定纵向多项式以及纵向状态转移时长;在纵向状态转移时长小于预设时长的情况下,根据纵向多项式预测障碍车的第一纵向轨迹,开始计时并获取第一计时时长;在第一计时时长达到纵向状态转移时长时,根据第一纵向轨迹终点的状态信息预测障碍车的第二纵向轨迹,直到第一计时时长达到预设时长,将第一纵向轨迹和第二纵向轨迹拼接形成障碍车的纵向预测轨迹,可以提升障碍车轨迹预测的准确性。
Obstacle vehicle track prediction method and device, vehicle and storage medium
障碍车轨迹预测方法和装置、车辆、存储介质
2025-03-14
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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