Vehicle Driving Intention Prediction Method, Apparatus, and Terminal, and Storage Medium

An apparatus comprising:

• a memory configured to store instructions;
• and
• at least one processor coupled to the memory and configured to:
• obtain map information of an intersection when a target vehicle drives to the intersection, wherein the map information of the intersection comprises road layer information and lane layer information, wherein the road layer information is of roads connected to the intersection, and wherein the lane layer information is of lanes of the roads;
• obtain driving information of the target vehicle;
• determine a first driving feature of the target vehicle relative to each of the lanes based on the driving information and the lane layer information;
• determine a second driving feature of the target vehicle relative to each of the roads based on the driving information and the road layer information;
• determine a lane intention of the target vehicle based on a third driving feature of a surrounding vehicle relative to the target vehicle, the first driving feature, and the second driving feature, wherein the surrounding vehicle is in a preset range of the target vehicle, and wherein the lane intention represents a first probability distribution that the target vehicle drives away from the intersection through each of the plurality of lanes;
• and
• determine a driving intention of the target vehicle based on the lane intention.

A computer program product comprising computer-executable instructions stored on a non-transitory computer-readable storage medium that, when executed by a processor, cause an apparatus to:

• obtain map information of an intersection when a target vehicle drives to the intersection, wherein the map information of the intersection comprises road layer information and lane layer information, wherein the road layer information is of roads connected to the intersection, and wherein the lane layer information is of lanes of the roads;
• obtain driving information of the target vehicle;
• determine a first driving feature of the target vehicle relative to each of the lanes based on the driving information and the lane layer information;
• determine a second driving feature of the target vehicle relative to each of the roads based on the driving information and the road layer information;
• determine a lane intention of the target vehicle based on a third driving feature of a surrounding vehicle relative to the target vehicle, the first driving feature, and the second driving feature, wherein the surrounding vehicle is in a preset range of the target vehicle, and wherein the lane intention represents a probability distribution that the target vehicle drives away from the intersection through each of the plurality of lanes;
• and
• determine a driving intention of the target vehicle based on the lane intention.