The invention discloses an intersection track prediction method based on a strategy intention, and the method comprises the following steps: 1, erecting road end equipment at an intersection, collecting the historical track information of traffic participants including vehicles and a road environment, obtaining a high-precision map of the region, and obtaining original data; 2, vectorizing the scene to obtain global interaction features; 3, constructing an input matrix according to the divided areas; 4, decoding through a decoder to obtain a plurality of possible trajectories, and selecting a trajectory which most conforms to the driving intention as a final prediction trajectory; step 5, performing training by taking data collected at the road intersection as a sample; and step 6, track prediction is carried out on the road end equipment. According to the method, driving intention estimation is not needed, and the predicted trajectory conforming to the expectation of the driver is selected by using the determined driving intention at the intersection, so that the uncertainty caused by individual difference is avoided, and the trajectory prediction efficiency and precision are improved to a great extent.
本发明公开了一种基于策略意图的交叉口轨迹预测方法,包括以下步骤:步骤1、在交叉路口架设路端设备,并且对包括车辆在内的交通参与者历史轨迹信息以及道路环境进行采集,获取该区域高精地图,得到原始数据;步骤2、对场景进行矢量化,得到全局交互特征;步骤3、按照划分的区域构建输入矩阵;步骤4、通过解码器解码得到多条可能轨迹,并选出最符合驾驶意图的轨迹作为最终预测轨迹;步骤5、以道路交叉口收集的数据为样本进行训练;步骤6、在路端设备上进行轨迹预测。本发明无需进行驾驶意图估计,而是利用确定的交叉口处驾驶意图选择符合驾驶人预期的预测轨迹,规避了个体差异带来的不确定性,很大程度上提高轨迹预测的效率和精度。
Intersection track prediction method and device based on strategy intention
一种基于策略意图的交叉口轨迹预测方法及装置
2023-07-14
Patent
Elektronische Ressource
Chinesisch
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