The invention relates to the technical field of unmanned driving, and discloses a method and a device for predicting a future movement track of a vehicle and unmanned driving equipment, and the method comprises the steps: collecting and selecting a vehicle in a preset distance range as a to-be-predicted vehicle; performing feature extraction and feature fusion on the historical tracks of all the vehicles in the driving scene and the lane lines where the historical tracks are located to obtain vehicle enhancement features of the to-be-predicted vehicle and vehicle enhancement features of the own vehicle; performing feature extraction on the planning track of the own vehicle to obtain own vehicle planning features, and performing splicing and feature compression on the own vehicle planning features and the own vehicle enhancement features to obtain own vehicle fusion features; performing feature interaction to obtain interaction features of the to-be-predicted vehicle; and finally, outputting the future motion trajectory of the to-be-predicted vehicle. According to the method, the planned trajectory of the vehicle is introduced, the influence of the planned trajectory on the to-be-predicted vehicle is modeled, advanced interaction between the vehicle and other vehicles in the way giving scene is completed, and the prediction precision of the future motion trajectory of the to-be-predicted vehicle is improved.

    本发明涉及无人驾驶技术领域,公开了一种车辆未来运动轨迹预测方法、装置及无人驾驶设备,方法包括:采集并选取在预设距离范围内的车辆作为待预测车辆;对所有在驾驶场景中的车辆的历史轨迹及其所处车道线进行特征提取和特征融合,得到待预测车辆的车辆增强特征和自车车辆增强特征;对自车的规划轨迹进行特征提取得到自车规划特征,将自车规划特征与自车车辆增强特征进行拼接以及特征压缩得到自车融合特征;进行特征交互,得到待预测车辆的交互特征;最后输出待预测车辆的未来运动轨迹。本发明通过引入自车的规划轨迹,通过建模规划轨迹对待预测车辆的影响,完成自车与让行场景下其他车辆的高级交互,提升待预测车辆未来运动轨迹的预测精度。


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    Titel :

    Method and device for predicting future motion trail of vehicle and unmanned equipment


    Weitere Titelangaben:

    车辆未来运动轨迹预测方法、装置及无人驾驶设备


    Beteiligte:
    AN XIANGJING (Autor:in) / ZHU YADONG (Autor:in) / LUO HUIWU (Autor:in) / HU TINGBO (Autor:in)

    Erscheinungsdatum :

    2023-11-07


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V



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