The invention discloses a target vehicle trajectory prediction method for a multi-lane scene, and the method comprises the steps: extracting historical trajectory features from the historical state information of a target vehicle and the historical state information of surrounding vehicles through a historical trajectory feature coding module, obtaining historical track characteristics of the target vehicle and historical track characteristics of surrounding vehicles; processing the historical trajectory features of the target vehicle and the historical trajectory features of the surrounding vehicles by using an interaction feature coding module to obtain interaction features of the target vehicle; utilizing a multimode decomposition bilinear pooling module to carry out feature fusion on the historical trajectory features and the interaction features of the target vehicle to obtain trajectory codes of the target vehicle; processing the track code of the target vehicle by using a multi-model identification module to obtain a transverse motion classification result of the target vehicle; and according to the transverse motion classification result of the target vehicle and the trajectory code of the target vehicle, predicting trajectory distribution of the target vehicle by using a trajectory generation module and determining a reference driving trajectory of the target vehicle.
本发明公开了一种用于多车道场景的目标车辆轨迹预测方法,包括:利用历史轨迹特征编码模块分别从目标车辆的历史状态信息和周围车辆的历史状态信息中提取历史轨迹特征,得到目标车辆的历史轨迹特征和周围车辆的历史轨迹特征;利用交互特征编码模块处理目标车辆的历史轨迹特征和周围车辆的历史轨迹特征,得到目标车辆的交互特征;利用多模分解双线性池化模块对目标车辆的历史轨迹特征和交互特征进行特征融合,得到目标车辆的轨迹编码;利用多模型标识模块处理目标车辆的轨迹编码,得到目标车辆的横向动作分类结果;根据目标车辆的横向动作分类结果和目标车辆的轨迹编码,利用轨迹生成模块预测目标车辆的轨迹分布并确定目标车辆的参考行驶轨迹。
Target vehicle track prediction method for multi-lane scene
一种用于多车道场景的目标车辆轨迹预测方法
2023-09-15
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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