The invention relates to the technical field of automatic driving, in particular to a training method of a trajectory prediction model. The method comprises the steps of obtaining trajectory sample data, and the trajectory sample data comprising trajectory sample data of a target vehicle and surrounding vehicle trajectory sample data of the target vehicle; obtaining a target vehicle trajectory prediction model and a trajectory correction model of each surrounding vehicle; inputting the trajectory sample data of the surrounding vehicles into the corresponding trajectory prediction models of thesurrounding vehicles to generate a trajectory correction sequence corresponding to the surrounding vehicles; determining the weight corresponding to each trajectory correction model by using the trajectory sample data of the target vehicle and the surrounding vehicles; cascading the vehicle trajectory prediction model and the trajectory prediction model of the surrounding vehicles by using the weights to obtain a trajectory prediction model; and training the trajectory prediction model to update parameters of the trajectory prediction model. Network structure parameters can be matched with anactual training set by considering correction data, so that prediction data is more accurate and approaches the actual value more.
本发明涉及自动驾驶技术领域,具体涉及一种轨迹预测模型的训练方法。包括:获取轨迹样本数据;其中,轨迹样本数据包括目标车辆的轨迹样本数据以及目标车辆的周车轨迹样本数据;获取目标车辆轨迹预测模型以及各个周车的轨迹修正模型;将周车的轨迹样本数据输入对应的周车的轨迹预测模型以生成与周车对应的轨迹修正序列;利用目标车辆和周车的轨迹样本数据确定各个所述轨迹修正模型对应的权重;利用权重将车辆轨迹预测模型及周车的轨迹预测模型进行级联得到轨迹预测模型;训练轨迹预测模型以更新轨迹预测模型的参数。考虑修正数据从而使网络结构参数与实际训练集能够进行匹配,使预测数据更加准确,更接近实际数值。
Training method, device and equipment for trajectory prediction model
一种轨迹预测模型的训练方法、装置和设备
2020-04-14
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 |
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