The embodiment of the invention discloses a predicted trajectory optimization method and device for surrounding vehicles, a vehicle and a storage medium, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining an initial predicted trajectory of the surrounding vehicles of a current vehicle, and determining a starting point lane corresponding to a trajectory starting point of the initial predicted trajectory and a terminal point lane corresponding to a trajectory terminal point; determining an optimized lane of the terminal lane according to the position of the starting lane and the position of the terminal lane, and performing direction optimization on the initial prediction trajectory according to the starting lane and the optimized lane to obtain an intermediate prediction trajectory; determining a preceding vehicle of the surrounding vehicles according to the intermediate prediction trajectory; determining interaction track points of the surrounding vehicles and the front vehicle based on the intermediate prediction track, and moving the interaction track points to obtain optimized track points of the interaction track points; and speed optimization is carried out on the intermediate prediction trajectory based on the optimized trajectory points to obtain the target prediction trajectory of the surrounding vehicles, so that the reasonability and accuracy of the prediction trajectory are improved, and the driving safety of the autonomous vehicle is improved.
本申请实施例公开了一种周围车辆的预测轨迹优化方法、装置、车辆及存储介质,涉及车辆控制技术领域,包括:获取当前车辆的周围车辆的初始预测轨迹,确定初始预测轨迹的轨迹起点对应的起点车道和轨迹终点对应的终点车道;根据起点车道的位置和终点车道的位置确定终点车道的优化车道,并根据起点车道和优化车道对初始预测轨迹进行方向优化,得到中间预测轨迹;根据中间预测轨迹确定周围车辆的前车;基于中间预测轨迹确定周围车辆与前车的交互轨迹点,并移动交互轨迹点得到交互轨迹点的优化轨迹点;基于优化轨迹点对中间预测轨迹进行速度优化,得到周围车辆的目标预测轨迹,提高了预测轨迹的合理性和准确性,并且提高了自动驾驶车辆的行驶安全性。
Predicted trajectory optimization method and device for surrounding vehicles, vehicle and storage medium
周围车辆的预测轨迹优化方法、装置、车辆及存储介质
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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