Method and device for predicting lane changing direction of vehicle and computer storage medium

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Method and device for predicting lane changing direction of vehicle and computer storage medium

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ZHANG FUQIANG / XU CHENG

The invention discloses a method for predicting the lane changing direction of a vehicle, and relates to the technical field of automatic driving prediction, and the method comprises the steps: determining a target lane where the vehicle is located according to a received central position value of the vehicle; calculating a first lateral deviation value according to the central position value and the lane center line of the target lane; according to the received vehicle orientation value and the lane orientation value of the target lane, calculating a deviation value between the head of the vehicle and the center line of the lane; according to the deviation value and the first lateral deviation value, calculating a second lateral deviation value between the central point of the head of the vehicle and the central line of the lane; determining a cost value according to the first lateral deviation value and the second lateral deviation value; according to the cost value, determining a keeping probability of keeping the vehicle to continue driving on the lane; according to the retention probability and the deviation value, the lane changing direction of the vehicle is determined, and by means of the mode, the lane changing direction can be rapidly determined, and the working efficiency can be improved.

本发明公开一种预测车辆换道方向的方法，涉及自动驾驶预测技术领域，包括：根据接收到的车辆的中心位置值，确定所述车辆所在目标车道；根据中心位置值与所述目标车道的车道中心线，计算第一横向偏移值；根据接收到的车辆朝向值与所述目标车道的车道朝向值，计算所述车辆的车头与所述车道中心线之间的偏差值；根据所述偏差值与所述第一横向偏移值，计算所述车辆车头中心点与所述车道中心线之间的第二横向偏移值；根据所述第一横向偏移值与第二横向偏移值，确定代价值；根据所述代价值确定所述车辆保持在所述车道继续行驶的保持概率；根据所述保持概率以及所述偏差值，确定所述车辆的换道方向，该方式能够快速确定车道换道方向提高工作效率。

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Title :

Method and device for predicting lane changing direction of vehicle and computer storage medium

Additional title:

一种预测车辆换道方向的方法、装置及计算机存储介质

Contributors:

ZHANG FUQIANG (author) / XU CHENG (author)

Publication date :

2023-12-08

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