The embodiment of the invention discloses a multi-target obstacle trajectory prediction network, equipment and a medium. The network comprises an encoder and a decoder, the encoder is used for determining scene features based on the historical state of each obstacle in a preset range, the lane information in the preset range and the traffic light information in the preset range; the historical state comprises the speed and the position of the obstacle at each sampling moment before the current moment; the lane information comprises positions, types and orientation angles of lane center line nodes and positions of left and right lane boundary lines; the traffic light information comprises the position of a traffic light and light information of each sampling moment before the current moment; and the decoder is used for determining a predicted trajectory of the target obstacle at a future moment according to the scene features and the initial anchor point of the target obstacle. Accurate prediction of the multi-target obstacle trajectory is realized, and the prediction precision is improved.
本公开实施例公开了一种多目标障碍物轨迹预测网络、设备和介质,该网络包括:编码器和解码器;编码器用于基于预设范围内各障碍物的历史状态、预设范围内的车道信息以及预设范围内的红绿灯信息确定场景特征;历史状态包括障碍物在当前时刻之前的每个采样时刻的速度和位置;所述车道信息包括车道中心线节点的位置、类型、朝向角度以及左右车道边界线的位置;所述红绿灯信息包括红绿灯的位置和在当前时刻之前的每个采样时刻的灯光信息;解码器用于根据所述场景特征以及目标障碍物的初始锚点确定目标障碍物在未来时刻的预测轨迹。实现了多目标障碍物轨迹的精准预测,提高了预测精度。
Multi-target obstacle trajectory prediction network, device and medium
多目标障碍物轨迹预测网络、设备和介质
26.11.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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