Method and device for predicting vehicle track, vehicle and storage medium

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Method and device for predicting vehicle track, vehicle and storage medium

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TANG SHUAI

The invention provides a method for predicting a vehicle track, a device for predicting the vehicle track, a vehicle and a storage medium. The method comprises the steps of: acquiring a first track of a target vehicle within a preset range away from a vehicle, wherein the first track is obtained through prediction of a sensor signal which is sensed by the vehicle based on a sensor of the vehicle and associated with the target vehicle; receiving a second trajectory from the target vehicle via the vehicle-to-vehicle communication link, the second trajectory being a planned trajectory planned by an autonomous driving system of the target vehicle; determining a first confidence associated with the first trajectory and a second confidence associated with the second trajectory; and fusing the first track and the second track by using the first confidence coefficient and the second confidence coefficient to obtain a predicted track of the target vehicle.

本公开提供了一种预测车辆轨迹的方法、预测车辆轨迹的装置、车辆及存储介质。该方法包括：获取距本车预定范围内的目标车辆的第一轨迹，其中，第一轨迹由本车基于本车的传感器感知的与目标车辆相关联的传感器信号而预测得到；经由车对车通信链路接收来自目标车辆的第二轨迹，其中，第二轨迹是目标车辆的自动驾驶系统所规划的规划轨迹；确定与第一轨迹相关联的第一置信度和与第二轨迹相关联的第二置信度；以及利用第一置信度和第二置信度融合第一轨迹和第二轨迹，以得到目标车辆的预测轨迹。

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Title :

Method and device for predicting vehicle track, vehicle and storage medium

Additional title:

预测车辆轨迹的方法、装置、车辆和存储介质

Contributors:

TANG SHUAI (author)

Publication date :

2021-12-10

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