The invention relates to an automatic driving track prediction method and device based on a diffusion model, and the method comprises the following steps: S1, organizing the inputted historical track information of a vehicle and other traffic participants and road high-definition map information into a broken line vector, and carrying out the effective and efficient vector coding; s2, track generation is controlled by adopting a diffusion model, and a future track multi-mode random noise generation process of traffic participants is simulated through the diffusion model; and S3, using the noise reduction neural network model to carry out diffusion model traffic participant future trajectory multi-modal random noise reduction, and generating a multi-modal self-vehicle prediction trajectory. The method has the beneficial effects of high accuracy and strong multi-modality.
本发明涉及一种基于扩散模型的自动驾驶轨迹预测方法与装置,所述方法包括以下步骤:S1、将输入的自车和其他交通参与者历史轨迹信息和道路高清地图信息组织为折线矢量,进行有效且高效矢量编码;S2、采用扩散模型控制轨迹生成,通过扩散模型模拟交通参与者未来轨迹多模态随机性噪声生成过程;S3、使用降噪神经网络模型进行扩散模型交通参与者未来轨迹多模态随机性噪声降噪,生成多模态自车预测轨迹。有益效果是准确性高、多模态性强。
Automatic driving track prediction method and device based on diffusion model
一种基于扩散模型的自动驾驶轨迹预测方法与装置
13.09.2024
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 |
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