The invention discloses a trajectory prediction method and device. The method comprises the following steps of: firstly, aiming at each obstacle around an unmanned vehicle, based on the historical track of the obstacle, determining motion characteristics of the obstacle, in addition, determining global interaction characteristics according to the motion characteristics of the obstacles, determining lane topology of lanes where the obstacles are located, determining lane characteristics according to the lane topology, and then inputting the obstacle motion characteristics, the interaction characteristics and the lane characteristics into a long-term and short-term memory network to obtain the predicted motion trajectory of the obstacle. The motion trajectory is predicted by determining themotion characteristics of the obstacles, the mutual influence between the obstacles and the characteristics of the lane, so that the prediction of the motion trajectory is influenced by other obstacles on the road and the lane, and the trajectory prediction is more accurate.

    本说明书公开了一种轨迹预测方法及装置,首先,针对无人车周围的每个障碍物,基于该障碍物的历史轨迹,确定该障碍物的运动特征,还可根据各障碍物的运动特征确定全局交互特征,其次,确定各障碍物所在车道的车道拓扑,再根据车道拓扑确定车道特征,之后将该障碍物运动特征、交互特征以及车道特征输入长短期记忆网络,得到该障碍物的预测运动轨迹。通过确定障碍物的运动特征、障碍物之间的相互影响以及车道的特征,预测运动轨迹,使得运动轨迹的预测受到了路上其他障碍物以及车道的影响,轨迹预测更加准确。


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    Title :

    Trajectory prediction method and device


    Additional title:

    一种轨迹预测方法及装置


    Contributors:
    FAN MINGYU (author) / REN DONGCHUN (author) / XIA HUAXIA (author) / QIAN DEHENG (author) / ZHU YANLIANG (author)

    Publication date :

    2020-05-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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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