基于地图的轨迹预测方法研究

Research on Trajectory Prediction Method Based on Map

本文提出了一种针对目标物基于地图的轨迹预测方法,通过目标物历史轨迹结合运动学模型及地图信息,输出对目标物的预测轨迹。首先,本文利用已知的历史轨迹数据、目标物状态信息及地图信息,预测目标物的行为(直行、左转、右转)。然后,根据经验知识及物体运动学方程分别求解目标物的纵向及横向位置,组成目标物未来的运动轨迹。最后,本文在高速道路进行了实验验证,结果表明所提出的方法能适应高速运行场景,具有较高的准确性和稳定性。

This paper proposes a map based trajectory prediction method for the target,which outputs the predicted trajectory of the target by combining the historical trajectory of the target with the kinematics model and map information.Firstly,this article utilizes known historical trajectory data,target state information,and map information to predict the behavior of the target object(straight ahead,left turn,right turn).Then,according to the empirical knowledge and the kinematics equation of the object,the longitudinal and transverse positions of the object are solved respectively to form the future movement track of the object.Finally,this article conducted experimental verification on publicly available datasets and actual roads,and the results showed that the proposed method can achieve high accuracy and stability in different road conditions and driving scenarios.