The invention relates to a target-driven trajectory prediction method, and belongs to the field of automatic driving. The method comprises the following steps: extracting features from a pedestrian trajectory sequence from two directions of a time sequence and a time reverse sequence through Bi-LSTM, generating position distribution of pedestrians at future moments, and realizing pedestrian target estimation; utilizing an attention mechanism and LSTM (Long Short Term Memory) to complete future movement speed prediction of vehicles around the pedestrian; and in combination with the future intention of the pedestrian, the future movement speed of vehicles around the pedestrian and the historical movement track of the pedestrian, completing prediction of the future movement track of the pedestrian. The method can improve the prediction precision of the future trajectory of the pedestrian, and prevents the automatic driving vehicle from hurting the pedestrian.
本发明涉及一种目标驱动的轨迹预测方法,属于自动驾驶领域。该方法包括:通过Bi‑LSTM从时间顺序和时间逆序两个方向从行人轨迹序列中提取特征,生成行人在未来时刻的位置分布,实现行人目标估计;利用注意力机制和LSTM完成对行人周围车辆的未来运动速度预测;结合行人未来意图、行人周围车辆未来运动速度和行人的历史运动轨迹,完成对行人未来运动轨迹的预测。本发明可提高行人未来轨迹预测精度,避免自动驾驶车辆对行人造成伤害。
Target-driven trajectory prediction method
一种目标驱动的轨迹预测方法
04.06.2024
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 |
Enhanced target trajectory prediction and target screening method
Europäisches Patentamt | 2024
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