The invention discloses an obstacle trajectory prediction method and device, a storage medium and electronic equipment, and can obtain driving data of an obstacle in a first duration in history, and construct a state matrix by taking state data at different moments as row data and taking data of different data dimensions as column data. And then, respectively inputting the state matrix into a time coding layer and a space coding layer of a trajectory prediction model to obtain correlation characteristics in a time dimension and correlation characteristics in a space dimension. And finally, according to the correlation characteristics of the obstacle in the time dimension and the space dimension, through a decoding layer of the trajectory prediction model, determining a predicted driving trajectory of the obstacle. According to the invention, the historical driving data of the obstacle is coded from the time dimension and the space dimension, the correlation between the features of the obstacle in the time dimension and the space dimension is learned, and the accuracy of trajectory prediction is improved.
本说明书公开了障碍物轨迹预测方法、装置、存储介质及电子设备,可获取障碍物在历史上第一时长内的行驶数据,并以不同时刻的状态数据作为行数据,以不同数据维度的数据作为列数据,构建状态矩阵。之后,将该状态矩阵分别输入轨迹预测模型的时间编码层以及空间编码层,得到时间维度上的关联特征以及空间维度上的关联特征。最后,根据该障碍物分别在时间维度和空间维度上的关联特征,通过该轨迹预测模型的解码层,确定该障碍物的预测行驶轨迹。分别从时间维度和空间维度对障碍物历史的行驶数据进行编码,学习到了障碍物在时间维度和空间维度上的各特征之间的相关性,提高了轨迹预测的准确率。
Obstacle trajectory prediction method and device, storage medium and electronic equipment
障碍物轨迹预测方法、装置、存储介质及电子设备
2022-05-31
Patent
Electronic Resource
Chinese
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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