The invention belongs to the technical field of intelligent driving, and particularly relates to a vehicle probability multi-mode expected trajectory prediction method, which comprises the following steps of: 1, in order to reduce the complexity of a neural network, extracting feature information of a predicted vehicle and surrounding vehicles as integral input information; performing data processing on speed, acceleration, coordinates and behavior intention labels included in the traffic vehicle; 2, preprocessing the data to generate a data set for training, testing and verifying a neural network model; 3, obtaining feature information of the predicted vehicle and surrounding traffic vehicles through a one-way LSTM encoder, transmitting the encoded feature information into a behavior intention recognition module, training the behavior intention recognition module, and recognizing the probability of each behavior intention through a softmax function; 4, outputting a future multi-modal trajectory of the vehicle through the bidirectional LSTM and the mixed density network; the system is reasonable in structure, has practical significance in predicting multi-mode tracks and improving intelligent driving safety decisions, and can effectively predict multiple tracks possibly occurring in the future of the vehicle through historical track information.
本发明属于智能驾驶技术领域,具体为一种车辆概率多模态预期轨迹预测方法,包括步骤1:为减少神经网络复杂度,提取被预测车辆和周围车辆特征信息作为整体输入信息;对交通车辆包含的速度、加速度、坐标、行为意图标签进行数据处理;步骤2:对数据预处理后生成用于训练、测试、验证神经网络模型的数据集;步骤3:通过单向LSTM编码器获取被预测车辆和周围交通车辆特征信息,编码后的特征信息传入并训练行为意图识别模块,通过softmax函数识别各行为意图的概率;步骤四:通过双向LSTM和混合密度网路输出车辆未来多模态轨迹;其结构合理,在预测多模态轨迹提高智能驾驶安全决策具有切实的实际意义,可以有效通过历史轨迹信息预测车辆未来可能发生的多条轨迹。
Vehicle probability multi-mode expected trajectory prediction method
一种车辆概率多模态预期轨迹预测方法
2023-03-07
Patent
Elektronische Ressource
Chinesisch
IPC: | 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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