The invention provides a pedestrian trajectory prediction method and an automatic driving method of a vehicle, firstly starting from graph structure trajectories of N pedestrians, using a grouping distribution module to estimate grouping information, and then generating an intra-group or inter-group interaction graph by shielding irrelevant nodes and executing a pedestrian group pool. The weight sharing trajectory prediction model employs three types of graphs and captures group-aware social interactions. And then coding agent features from the group features by using a group pool operator, and inputting the agent features into a group integration module to estimate probability distribution of future trajectory prediction.
本发明提供了一种行人轨迹预测方法及车辆的自动驾驶方法,首先从N个行人的图结构轨迹出发,利用分组分配模块估计分组信息,然后通过屏蔽无关节点和执行行人组池生成组内或组间交互图。权重共享轨迹预测模型采用三种类型的图,并捕捉群体感知的社会互动。然后应用群体池算子从群体特征中编码智能体特征,然后输入群体集成模块估计未来轨迹预测的概率分布。
Pedestrian trajectory prediction method and automatic driving method of vehicle
一种行人轨迹预测方法及车辆的自动驾驶方法
2023-04-07
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 |
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