The invention discloses a trajectory prediction method and device for pedestrians of special work types in a road scene. The method comprises the steps that information of obstacles around a vehicle is acquired in real time; classifying the acquired obstacle information by using a trained pedestrian classification model, dividing pedestrians in obstacles into special work type pedestrians and general pedestrians, and obtaining specific categories of the special work type pedestrians; and utilizing the trained trajectory prediction model for the special work type pedestrians of the category to predict future trajectories of the special work type pedestrians. According to the method, targeted trajectory prediction is carried out on the pedestrian of the special work type, and compared with a generalized pedestrian prediction model, a more accurate future trajectory can be obtained, so that an automatic driving vehicle can accurately respond to behaviors of the pedestrian of the special work type, and the stability of an automatic driving system is improved.
本发明公开一种特殊工种行人在道路场景下的轨迹预测方法及设备,包括:实时获取车辆周围障碍物信息;利用训练好的行人分类模型对获取的障碍物信息进行分类,将障碍物中的行人分为:特殊工种行人与一般行人,并得到特殊工种行人的具体类别;利用针对该类别的特殊工种行人的训练好的轨迹预测模型对特殊工种行人的未来轨迹进行预测。本发明对特殊工种行人进行针对性的轨迹预测,相比于泛化的行人预测模型,能够得到更加精准的未来轨迹,使得自动驾驶车辆能够对特殊工种行人的行为做出准确的应对,从而提升自动驾驶系统的稳定性。
Trajectory prediction method and device for pedestrian of special work type in road scene
特殊工种行人在道路场景下的轨迹预测方法及设备
2023-11-28
Patent
Elektronische Ressource
Chinesisch
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