Title:
TRAJECTORY PREDICTION METHOD AND SYSTEM IN AUTONOMOUS DRIVING SYSTEM
Document Type and Number:
WIPO Patent Application WO/2023/202485
Kind Code:
A1
Abstract:
A trajectory prediction method and system in an autonomous driving system. The trajectory prediction method in an autonomous driving system comprises the following step: acquiring result information for sensing an obstacle, so as to perform trajectory prediction on an ego vehicle. The method further comprises the following steps: acquiring a free space in a high-precision map of the current frame and/or a map of the current frame, and acquiring trajectory planning information of the previous frame of the ego vehicle; determining a trajectory prediction result of the current frame according to the free space in the high-precision map of the current frame and/or the map of the current frame; and correcting the trajectory prediction result of the current frame according to the trajectory planning information of the previous frame, so as to obtain a corrected trajectory prediction result of the current frame. By means of the prediction method, the free space in a high-precision map of the current frame and/or a map of the current frame is acquired during prediction, and trajectory planning information of the previous frame of an ego vehicle is acquired, such that it can be fully ensured that a generated predicted trajectory is within the free space.
Inventors:
SONG YONGKANG (CN)
XIAO YANG (CN)
CHEN YUCHENG (CN)
DENG JIE (CN)
TIAN XIANGYUAN (CN)
XIAO SHENG (CN)
XIAO YANG (CN)
CHEN YUCHENG (CN)
DENG JIE (CN)
TIAN XIANGYUAN (CN)
XIAO SHENG (CN)
Application Number:
PCT/CN2023/088404
Publication Date:
October 26, 2023
Filing Date:
April 14, 2023
Export Citation:
Assignee:
WUHAN LOTUS CARS CO LTD (CN)
International Classes:
B60W40/00; B60W60/00; B60W50/00; G05D1/02
Domestic Patent References:
| WO2022016941A1 | 2022-01-27 | |||
| WO2022035602A2 | 2022-02-17 |
Foreign References:
| CN114889638A | 2022-08-12 | |||
| CN112327830A | 2021-02-05 | |||
| CN113128326A | 2021-07-16 | |||
| CN112622924A | 2021-04-09 | |||
| CN111829545A | 2020-10-27 |
Attorney, Agent or Firm:
WISEAST INTELLECTUAL PROPERTY LAW FIRM (CN)
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