Vehicle behavior prediction method and apparatus, electronic device, and storage medium

A vehicle behavior prediction apparatus, comprising a processor;

• and
• a memory, configured to store instructions executable by the processor, wherein the processor is configured to execute the instructions and causes the vehicle behavior prediction apparatus to:
• acquire a path that a target vehicle will travel at a current intersection and determine a target traffic light corresponding to the path;
• acquire an indication status of the target traffic light, and determine a neighboring traffic light corresponding to the target traffic light and the indication status of the neighboring traffic light according to the target traffic light, the indication status of the target traffic light and a traffic light status mapping relationship table, wherein the neighboring traffic light is a traffic light at the current intersection controlling traffic in a direction different from that of the target traffic light;
• acquire a position of an obstacle vehicle, predict each possible travel path of the obstacle vehicle at the current intersection according to the position of the obstacle vehicle, and determine a traffic light corresponding to each possible travel path, wherein the neighboring traffic light comprises the traffic light corresponding to each possible travel path;
• and
• determine a final possible travel path of the obstacle vehicle according to each possible travel path and the indication status of the traffic light corresponding to each possible travel path,
• wherein the vehicle behavior prediction apparatus is further caused to:
• for each possible travel path, if the indication status of the traffic light corresponding to the possible travel path is a red light or a yellow light, update the possible travel path to a lane before the traffic light;
• and
• determine a set including each possible travel path of the obstacle vehicle as the final possible travel path of the obstacle vehicle,
• wherein the vehicle behavior prediction apparatus is further caused to:
• determine a drivable path of each intersection according to a lane topology relationship in an electronic map;
• wherein the drivable path comprises an initial lane and a target lane;
• and determine, for each drivable path, a traffic light on the travel path from the initial lane to the target lane, and establish a mapping relationship among the initial lane, the target lane and the traffic light,
• wherein the vehicle behavior prediction apparatus is further caused to obtain the position of the obstacle vehicle, determine a lane in which the obstacle vehicle is located according to the position;
• and predict each possible travel path of the obstacle vehicle at the current intersection according to the lane in which the obstacle vehicle is located and the lane topology relationship, and
• wherein each possible travel path is formed by at least two lanes in sequence from the initial lane to the target lane;
• and
• wherein the vehicle behavior prediction apparatus is further caused to determine the traffic light corresponding to each possible travel path by:
• determining the traffic light corresponding to every two consecutive lanes in each possible travel path, according to the mapping relationship among the initial lane, the target lane and the traffic light;
• and
• using the determined traffic light as the traffic light corresponding to each possible travel path.