The invention discloses a predicted trajectory truncation method and device, equipment and a medium, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining a predicted trajectory obtained after the prediction of the motion trajectory of a surrounding object in the driving process of a vehicle, and determining a target lane where the vehicle is located at present; determining a lane level to which the target lane belongs based on the road edge information on the two sides of the target lane; and determining a trajectory truncation function corresponding to the lane level, and performing truncation processing on the predicted trajectory on the target lane based on the trajectory truncation function. According to the invention, the abnormal prediction track can be cut off in time, and the safety of vehicle driving is ensured.

    本申请公开了一种预测轨迹截断方法、装置、设备及介质,涉及自动驾驶技术领域,包括:在自车行驶过程中,获取对周围物体的运动轨迹进行预测后得到的预测轨迹,并确定自车当前所处的目标车道;基于所述目标车道两侧的路沿信息确定所述目标车道所属的车道等级;确定与所述车道等级对应的轨迹截断函数,并基于所述轨迹截断函数在所述目标车道上对所述预测轨迹进行截断处理。本申请能够对异常的预测轨迹及时进行截断,保证车辆行驶的安全性。


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    Title :

    Prediction trajectory truncation method, device, equipment and medium


    Additional title:

    一种预测轨迹截断方法、装置、设备及介质


    Contributors:
    XU TIANYU (author) / HAN JIN (author) / CUI RANRAN (author) / SONG YANG (author)

    Publication date :

    2025-05-06


    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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