The invention discloses an interpretable vehicle track prediction method and device for an open complex driving scene, and belongs to the field of automatic driving, and the method comprises the steps: carrying out the vectorization processing of a vehicle track and a road center line; according to the vehicle motion state code, determining target vehicle features after the target vehicle interacts with the high-interaction-degree vehicle space based on a sparse self-attention mechanism; determining vehicle-road characteristics after interaction between the target vehicle and the high-interaction-degree road based on a sparse cross attention mechanism in combination with center line coding; and fusing the target vehicle features of each frame with the vehicle road features, inputting an interpretable Transform model, extracting key frame features, performing feature enhancement, and inputting a vehicle kinematics constrained multi-modal prediction decoder to obtain a prediction trajectory. According to the method, robust trajectory prediction is realized, the transparency of a prediction network is improved, the network calculation complexity is reduced, interference can be effectively suppressed, and a prediction result is more accurate.
本发明公开了一种开放复杂驾驶场景的可解释性车辆轨迹预测方法及装置,属于自动驾驶领域,该方法包括:将车辆轨迹和道路中心线进行向量化处理;根据车辆运动状态编码,基于稀疏自注意力机制确定目标车辆与高交互度车辆空间交互后的目标车辆特征;结合中心线编码,基于稀疏交叉注意力机制确定目标车辆和高交互度道路之间交互后的车路特征;将每一帧的目标车辆特征与车路特征进行融合,输入可解释性Transformer模型,提取关键帧特征并进行特征增强,并输入车辆运动学约束的多模态预测解码器得到预测轨迹。该方法实现了鲁棒轨迹预测,提升了预测网络的透明度,减少了网络计算复杂度,干扰可以得到有效的抑制,预测结果更加准确。
Method and device for predicting interpretable vehicle track in open complex driving scene
开放复杂驾驶场景的可解释性车辆轨迹预测方法及装置
14.06.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / 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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