The embodiment of the invention discloses a target object track determination method and device, electronic equipment and a storage medium, and the method comprises the steps: generating a target scene image corresponding to a current time frame based on a sensing result corresponding to each time frame in at least one time frame and a first region map corresponding to the current time frame; based on the target scene image, determining a first feature corresponding to each target object corresponding to the current time frame; based on the sensing results corresponding to the time frames, target features corresponding to the target objects corresponding to the current time frame are determined, and the target features comprise time sequence features corresponding to the target objects and/or interaction features corresponding to the target objects; and based on the first feature and the target feature corresponding to each target object, determining a driving track corresponding to each target object in the later time frame. According to the embodiment of the invention, the prediction precision can be effectively improved, and higher prediction precision can be obtained in a scene with dense obstacles.
本公开实施例公开了一种目标对象的轨迹确定方法、装置、电子设备和存储介质,其中,方法包括:基于至少一个时间帧中各时间帧分别对应的感知结果和当前时间帧对应的第一区域地图,生成当前时间帧对应的目标场景图像;基于目标场景图像,确定当前时间帧对应的各目标对象分别对应的第一特征;基于各时间帧分别对应的感知结果,确定当前时间帧对应的各目标对象分别对应的目标特征,目标特征包括目标对象对应的时序特征和/或目标对象对应的交互特征;基于各目标对象分别对应的第一特征和目标特征,确定各目标对象分别对应的在后时间帧的行驶轨迹。本公开实施例可以有效提高预测精度,使得在障碍物密集场景下也能够获得更高的预测精度。
Track determination method and device of target object, electronic equipment and storage medium
目标对象的轨迹确定方法、装置、电子设备和存储介质
2023-06-27
Patent
Electronic Resource
Chinese
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