The invention discloses a trajectory prediction method and device in a traffic intersection scene, a terminal and a storage medium. The method comprises the steps of obtaining a road scene, a traffic signal lamp state and a historical motion trajectory; according to the road scene, a plurality of directed graphs are constructed, and the directed graphs are used for simulating interaction relations among all motion subjects in the road scene; obtaining spatio-temporal characteristics of the motion subjects according to the historical motion trails and the digraphs; determining a plurality of candidate movement action probabilities of the vehicle according to the traffic signal lamp state and the historical movement track; and determining a to-be-moved track of the vehicle according to each spatio-temporal feature and each candidate moving action probability. Due to the fact that the directed graph is constructed for the interaction relation among all the motion subjects in the road scene, candidate motion prediction and the like are carried out, various remarkably different moving modes can be distinguished and predicted more accurately, and the problem that high accuracy is difficult to achieve when behaviors of the motion subjects in a traffic intersection are predicted in the prior art is effectively solved.

    本发明公开了交通路口场景下的轨迹预测方法、装置、终端及存储介质,所述方法通过获取道路场景、交通信号灯状态以及历史运动轨迹;根据道路场景构建若干有向图,其中,有向图用于模拟道路场景中各运动主体间的交互关系;根据历史运动轨迹和各有向图得到各运动主体的时空特征;根据交通信号灯状态和历史运动轨迹确定车辆的若干候选移动动作概率;根据各时空特征和各候选移动动作概率确定车辆的待移动轨迹。由于本发明对道路场景中各运动主体间的交互关系构建有向图、候选动作预测等,从而能够更准确地区分和预测各种显著不同的移动模式,有效地解决了现有技术在预测交通路口内运动主体的行为时难以达到很高的准确率的问题。


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    Titel :

    Trajectory prediction method and device in traffic intersection scene, terminal and storage medium


    Weitere Titelangaben:

    交通路口场景下的轨迹预测方法、装置、终端及存储介质


    Beteiligte:
    PEI CAN (Autor:in) / LEI QUNJUAN (Autor:in) / HUANG MIN (Autor:in) / JANG SEUNG WOO (Autor:in) / WANG XIANCHEN (Autor:in) / LIU YUANSHENG (Autor:in) / LUO CHENG (Autor:in) / ZHANG HAO (Autor:in) / FANG XU (Autor:in) / ZHOU RUNDONG (Autor:in)

    Erscheinungsdatum :

    03.01.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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