The invention discloses an automatic driving track prediction method and device based on scene guidance gating, and the method comprises the steps: filtering an intelligent agent code through employing a scene guidance gating unit in an encoder module, and updating a lane code through employing the filtered intelligent agent code; in a decoder module, the position of a target vehicle, latent variables following multivariable Gaussian distribution and updated target codes pass through a linear layer and then are filtered through a scene guide gating unit, and filtered features pass through the linear layer to obtain a predicted track. According to the invention, the scene guide gating unit is introduced to utilize the influence of scene heterogeneity on driving behaviors, so that track prediction with more social consciousness can be realized. According to the method, the diffusion convolution operation is performed on the updated lane code and the lane attention map, and the randomness of social interaction is simulated by using bidirectional random walk on the lane attention map. Compared with the prior art, the method has better effectiveness and robustness.
本发明公开了一种基于场景引导门控的自动驾驶轨迹预测方法和装置,在编码器模块中,使用场景引导门控单元对智能体编码进行过滤,并采用过滤后的智能体编码来更新车道编码;在解码器模块中,将目标车辆的位置、遵循多变量高斯分布的潜变量和更新后的目标编码,经过线性层后,再经过场景引导门控单元进行过滤,过滤后的特征经过线性层,得到预测的轨迹。本发明引入场景引导门控单元以利用场景异质性对驾驶行为的影响,进而有利于实现更具社会意识的轨迹预测。本发明对更新后的车道编码和车道注意力图执行扩散卷积操作,利用车道注意力图上的双向随机游走来模拟社会互动的随机性。本发明相比于现有技术方案,具有更好的有效性和稳健性。
Automatic driving track prediction method and device based on scene guide gating
一种基于场景引导门控的自动驾驶轨迹预测方法和装置
06.05.2025
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 |
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