The invention relates to an obstacle trajectory prediction method and device, and a related product. The method comprises the following steps: dividing acquired perception information into an environment perception information coding layer and a motion state information coding layer; according to different attributes of map elements, carrying out coding classification on the environment perception information coding layer; carrying out intra-class interactive encoding on each class of environment perception information through an interactive encoder to generate intra-class features; performing inter-class encoding on the intra-class features through an inter-class feature encoder to generate first features to be aggregated; performing state feature encoding on the motion state information through a state feature encoder to generate a second to-be-aggregated feature; aggregating the first to-be-aggregated features and the second to-be-aggregated features to generate obstacle trajectory coding features; and decoding the obstacle trajectory coding features through a feature decoder to generate obstacle prediction trajectory information.
本发明涉及一种障碍物轨迹预测方法及装置、相关产品,方法包括:将获取的感知信息划分为环境感知信息编码层和运动状态信息编码层;根据地图元素的不同属性,对环境感知信息编码层进行编码分类;通过交互编码器将每类环境感知信息进行类内交互编码,生成类内特征;通过类间特征编码器将类内特征进行类间编码,生成第一待聚合特征;通过状态特征编码器将运动状态信息进行状态特征编码,生成第二待聚合特征;聚合第一待聚合特征和第二待聚合特征生成障碍物轨迹编码特征;通过特征解码器将障碍物轨迹编码特征进行解码,生成障碍物预测轨迹信息。
Obstacle trajectory prediction method and device, and related product
一种障碍物轨迹预测方法及装置、相关产品
2024-05-17
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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