The invention discloses a travelable region feature extraction-based vehicle track prediction method, which comprises the following steps of: generating a travelable region of a to-be-predicted vehicle by utilizing historical track information and high-precision map information of the vehicle, extracting features of the travelable region, and generating end point information in combination with historical motion state information of the to-be-predicted vehicle; and carrying out feature coding on the end point information, fusing the end point information into an encoder, and generating final prediction track information through a decoder. According to the invention, the feature information of the travelable region is fused into the trajectory prediction model, so that the accuracy of the trajectory prediction result is improved, the probability that the trajectory prediction result exceeds the travelable region is reduced, and the authenticity, reliability and availability of the trajectory prediction result are ensured.
本发明公开了一种基于可行驶区域特征提取的车辆轨迹预测方法,利用车辆的历史轨迹信息和高精地图信息,生成待预测车辆的可行驶区域,提取可行驶区域的特征,并结合待预测车辆的历史运动状态信息生成终点信息,将终点信息进行特征编码,融入到编码器,再通过解码器生成最终的预测轨迹信息。本发明将可行驶区域的特征信息融入到轨迹预测模型中,提高了轨迹预测结果的准确度,减小了轨迹预测结果超出可行驶区域的概率,保证了轨迹预测结果的真实性、可靠性及可用性。
Vehicle track prediction method based on drivable area feature extraction
一种基于可行驶区域特征提取的车辆轨迹预测方法
2023-02-17
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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