The embodiment of the invention relates to a predicted trajectory processing method and device. The method comprises the following steps: acquiring a first historical trajectory, a first position and a first driving sign of an obstacle vehicle; determining a trajectory prediction mode type and a corresponding trajectory prediction mode number at the current moment according to the first driving sign; when the trajectory prediction mode type is a single mode type, calling N single trajectory prediction models to perform single trajectory prediction, and performing trajectory fusion on the N first prediction trajectories to generate a first fusion trajectory; when the trajectory prediction modal type is a multi-modal type, calling M multi-trajectory prediction models to perform multi-trajectory prediction to generate first prediction trajectory sets, and performing trajectory fusion on the M first prediction trajectory sets to generate a first fusion trajectory set; and performing prediction data integration on the obtained first fusion trajectory or the first fusion trajectory set according to the trajectory prediction mode type to generate prediction trajectory data and output the prediction trajectory data. According to the invention, the prediction accuracy can be improved.
本发明实施例涉及一种预测轨迹的处理方法和装置,所述方法包括:获取障碍物车辆的第一历史轨迹、第一位置和第一行驶标志;根据第一行驶标志确定当前时刻的轨迹预测模态类型和对应的轨迹预测模态数量;轨迹预测模态类型为单模态类型时,调用N个单轨迹预测模型进行单轨迹预测,并对N个第一预测轨迹进行轨迹融合生成第一融合轨迹;轨迹预测模态类型为多模态类型时,调用M个多轨迹预测模型进行多轨迹预测生成第一预测轨迹集合,并对M个第一预测轨迹集合进行轨迹融合生成第一融合轨迹集合;根据轨迹预测模态类型对得到的第一融合轨迹或第一融合轨迹集合进行预测数据整合生成预测轨迹数据输出。通过本发明可以提高预测准确度。
Prediction trajectory processing method and device
一种预测轨迹的处理方法和装置
2022-12-09
Patent
Electronic Resource
Chinese
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