The invention relates to a trajectory prediction method and device, a model training method and device, equipment, a medium and a vehicle. According to the embodiment of the invention, the method comprises the steps: obtaining N track points closest to a current moment in a historical track of a to-be-detected vehicle, and the position data of each track point; obtaining a corresponding target lane line in the search range of each track point; based on the lane line point set of the target lane line corresponding to each track point and the position data of the track points, constructing an embedded vector matrix corresponding to the track points; constructing an adjacent matrix corresponding to the track points based on a point set of a lane section closest to the track points in the target lane lines corresponding to the track points and a point set of at least one lane section adjacent to the closest lane section; and track prediction is carried out based on the embedded vector matrixes and the adjacent matrixes corresponding to the N track points, the predicted track of the to-be-detected vehicle is obtained, and the track prediction accuracy can be improved through the position relation between the track points of the historical track of the to-be-detected vehicle and the lane lines and the position relation between the lane segments.
本公开涉及一种轨迹预测方法、模型训练方法、装置、设备、介质及车辆。本公开实施例,通过获取待测车辆的历史轨迹中距离当前时刻最近的N个轨迹点及各轨迹点的位置数据;获取各轨迹点查找范围内对应的目标车道线;基于各轨迹点对应的目标车道线的车道线点集和轨迹点的位置数据构建轨迹点对应的嵌入向量矩阵;基于各轨迹点对应的目标车道线中距离轨迹点最近的车道段的点集和与最近的车道段相邻的至少一个车道段的点集构建轨迹点对应的邻接矩阵;基于N个轨迹点对应的嵌入向量矩阵和邻接矩阵进行轨迹预测,得到待测车辆的预测轨迹,可通过待测车辆历史轨迹的轨迹点与车道线之间的位置关系以及各个车道段之间的位置关系,提高轨迹预测的准确性。
Trajectory prediction method, model training method, device, equipment, medium and vehicle
轨迹预测方法、模型训练方法、装置、设备、介质及车辆
27.08.2024
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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
Vehicle trajectory prediction method, trajectory prediction model training method and device
Europäisches Patentamt | 2023
|Training method and device of trajectory prediction model, equipment and medium
Europäisches Patentamt | 2025
|Training method, device and equipment for trajectory prediction model
Europäisches Patentamt | 2020
|Vehicle trajectory prediction method and device, equipment and storage medium
Europäisches Patentamt | 2023
|Vehicle trajectory prediction method and device, equipment and storage medium
Europäisches Patentamt | 2021
|