The invention provides a trajectory prediction method and device and a storage medium, and the method comprises the steps: generating a hypothetical trajectory set based on the historical motion data of a to-be-predicted object; based on a scene representation set, generating a plurality of anchor point vectors, the scene representation set including all information in the current motion scene of the to-be-predicted object; and fusing the hypothetical trajectory set and the plurality of anchor point vectors to obtain a predicted trajectory set. The hypothesis trajectory set is generated based on the historical motion data, and the modal diversity of the trajectory is improved. An anchor vector generated based on a scene representation set containing all information of the current motion scene carries personalized information of an object to be predicted and information of the current motion scene. The constraint of the current motion scene is introduced into the hypothetical trajectory set through the anchor point vector, and the hypothetical trajectory which does not conform to the current motion scene in the hypothetical trajectory set is eliminated, so that the trajectory prediction accuracy is improved, and the modal diversity of the trajectory can be reserved to a great extent.

    本申请提出一种轨迹预测方法、设备及存储介质,该方法包括:基于待预测物体的历史运动数据,生成假设轨迹集合;基于场景表示集合,生成多个锚点向量,场景表示集合包含待预测物体的当前运动场景中的所有信息;对假设轨迹集合和多个锚点向量融合得到预测轨迹集合。本申请基于历史运动数据生成假设轨迹集合,提高了轨迹的模态多样性。基于包含当前运动场景所有信息的场景表示集合生成的锚点向量带有待预测物体的个性化信息和当前运动场景的信息。通过锚点向量向假设轨迹集合引入当前运动场景的约束,将假设轨迹集合中不符合当前运动场景的假设轨迹淘汰,提高轨迹预测的准确性,也能很大程度上保留轨迹的模态多样性。


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    Titel :

    Trajectory prediction method and device, equipment and storage medium


    Weitere Titelangaben:

    轨迹预测方法、装置、设备及存储介质


    Beteiligte:
    WANG XISHUN (Autor:in) / SU TONG (Autor:in) / OKATA (Autor:in) / YANG XIAODONG (Autor:in)

    Erscheinungsdatum :

    2023-09-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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