The invention provides a vehicle trajectory prediction method based on driver interaction behavior characteristics in a network connection environment. The method comprises the steps of feature clustering and fusion based on vehicle interaction behaviors, wherein clustering and feature fusion are carried out on different statistical parameters generated by the vehicle interaction behaviors on vehicle movement, and mapping is carried out to serve as input of a model. Spatial attention feature processing based on dynamic grid map modeling: performing dynamic grid map modeling on spatial motion of the vehicle on the road, and establishing a spatial attention map layer by combining a spatial attention module and utilizing a spatial relationship of grid model features. The invention discloses an end-to-end trajectory prediction framework based on behavior recognition. The end-to-end trajectory prediction framework is a novel end-to-end trajectory prediction framework based on sequence-to-sequence. According to the method, the behavior characteristic style of the driver can be identified, on the basis, prediction trajectory distribution is output through the graph attention module, and the model verifies that the driving style habit and interactive information of surrounding vehicles can effectively improve the accuracy of trajectory prediction.
本发明提供了一种网联环境下基于驾驶员交互行为特征的车辆轨迹预测方法。该方法包括:基于车辆交互行为的特征聚类与融合:将车辆间交互行为对车辆运动产生的不同统计参数进行聚类与特征融合并映射作为模型的输入。基于动态栅格图建模的空间注意力特征处理:对车辆在道路上的空间运动进行动态栅格图建模,并结合空间注意力模块利用栅格模型特征的空间关系建立空间注意力图层。端到端的基于行为识别的轨迹预测框架:基于sequence‑to‑sequence提出一种新型的端到端的轨迹预测框架。本发明能够辨识驾驶人行为特征风格,在此基础上,通过图注意力模块输出预测轨迹分布,该模型验证了驾驶风格习惯和周围车辆的交互式信息均能有效提高轨迹预测的准确性。
Vehicle track prediction method based on driver interaction behavior characteristics in network connection environment
网联环境下基于驾驶员交互行为特征的车辆轨迹预测方法
2022-12-27
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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