The invention discloses an agent future trajectory prediction system and method, the system comprises a feature encoder, a suggestion decoder, a directed acyclic graph encoder and a decomposition joint decoder, the feature encoder encodes scene context information and a historical trajectory to obtain an agent code, and the decomposition joint decoder decodes the agent code; the suggestion decoder decodes agent codes output by the feature encoder to output marginal future trajectories of the agents, and the directed acyclic graph encoder establishes an interaction graph structure of interaction among the multiple agents according to the marginal future trajectories of the agents output by the suggestion decoder. And the decomposition joint decoder generates trajectory prediction of multi-agent future joint according to the interaction graph structure and the agent codes. For the source node on the directed acyclic interaction graph, the method provided by the invention can perform parallel processing, and also can perform parallel processing on two agents without interaction relationship, thereby improving the calculation efficiency of trajectory prediction.
本发明公开了一种智能体未来轨迹预测系统及方法,包括特征编码器、建议解码器、有向无环图编码器和分解联合解码器,特征编码器对场景上下文信息和历史轨迹进行编码,得到智能体编码,建议解码器对特征编码器的输出的智能体编码进行解码输出智能体的边际未来轨迹,有向无环图编码器根据建议解码器输出智能体的边际未来轨迹建立多智能体之间交互的交互图结构,分解联合解码器根据交互图结构和智能体编码生成多智能体未来联合的轨迹预测。对于有向无环交互图上的源节点,本发明方法能够并行处理,并且在无交互关系的两个智能体也能并行处理,从而提高了轨迹预测的计算效率。
Multi-agent future trajectory prediction system and method
一种多智能体未来轨迹预测系统及方法
29.09.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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