The invention discloses a vehicle lane changing prediction method based on an attention mechanism. The method comprises the following steps: step 1, acquiring data information of a vehicle and vehicles around the vehicle; 2, constructing neural network input features according to the data information obtained in the step 1; wherein the input features comprise target vehicle features, dynamic environment information and static environment information; 3, according to the neural network input features constructed in the step 2, constructing a neural network model based on an attention mechanism; 4, training the neural network model built in the step 3; and 5, performing lane change prediction on the target vehicle by using the neural network model trained in the step 4. The method not only considers the static characteristics of the target vehicle and the surrounding environment, but also introduces the attention mechanism to consider the interaction behaviors of the prediction target, the surrounding vehicles and the historical state, can well adapt to complex road conditions, and can better predict the lane change of the target.
本发明公开了一种基于注意力机制的车辆换道预测方法,包括如下步骤:步骤1:获取本车以及本车周围车辆的数据信息;步骤2:根据步骤1获取的数据信息,构建神经网络输入特征;其中,输入特征包括目标车特征、动态环境信息和静态环境信息;步骤3:根据步骤2构建的神经网络输入特征,搭建基于注意力机制的神经网络模型;步骤4:训练步骤3搭建的神经网络模型;步骤5:利用步骤4训练后的神经网络模型对目标车辆进行换道预测。本发明所述方法不仅考虑了目标车辆及周围环境的静态特征,同时引入注意力机制考虑了预测目标与周边车辆、历史状态的交互行为,能够很好的适应复杂路况,更好的对目标换道进行预测。
Vehicle lane changing prediction method based on attention mechanism
一种基于注意力机制的车辆换道预测方法
2022-08-12
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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