The invention provides a training method and an evaluation method of a trajectory prediction model. The training method comprises the steps of obtaining a prediction trajectory of a target from a trajectory prediction model, and dividing the prediction trajectory into a plurality of prediction sub-trajectory segments; a real track of the target is obtained, the real track is divided into a plurality of real sub-track segments, and the number of the real sub-track segments corresponds to the number of the predicted sub-track segments; respectively calculating a vector included angle between the predicted sub-track segment and the real sub-track segment, wherein the vector included angle comprises a transverse vector included angle and a longitudinal vector included angle; respectively calculating L2 distance loss between the predicted sub-track segment and the real sub-track segment; calculating transverse distance loss and longitudinal distance loss according to the vector included angle and the L2 distance loss; and taking the transverse distance loss and the longitudinal distance loss as loss functions of the trajectory prediction model, and optimizing parameters of the trajectory prediction model. According to the method, the loss function is finely decomposed, and the trained trajectory prediction model is higher in prediction accuracy.
本发明提供了一种轨迹预测模型的训练方法及评估方法。其中训练方法包括:从轨迹预测模型中获取目标的预测轨迹,将预测轨迹划分为多个预测子轨迹段;获取目标的真实轨迹,将真实轨迹划分为多个真实子轨迹段,真实子轨迹段与预测子轨迹段的数量对应;分别计算预测子轨迹段与真实子轨迹段之间的向量夹角,向量夹角包括横向向量夹角和纵向向量夹角;分别计算预测子轨迹段与真实子轨迹段之间的L2距离损失;根据向量夹角和L2距离损失计算横向距离损失和纵向距离损失;将横向距离损失和纵向距离损失作为轨迹预测模型的损失函数,优化轨迹预测模型的参数。本申请对损失函数进行精细化分解,训练好的轨迹预测模型预测准确性更高。
Training method and evaluation method of trajectory prediction model
轨迹预测模型的训练方法及评估方法
2023-03-03
Patent
Elektronische Ressource
Chinesisch
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 |
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