The invention discloses a vehicle trajectory prediction method and system and a storage medium, and the method comprises the steps: obtaining the historical trajectory of a target vehicle, carrying out the feature coding, and extracting the feature of each target trajectory in a time sequence; calculating an edge feature matrix of each target track, inputting the edge feature matrix and the features on each target track time sequence into a graph neural network, extracting interaction information between targets, and enhancing the interaction information by using a multi-head self-attention mechanism; splicing the enhanced interaction information and the feature of each target track on the time sequence, and predicting the transverse lane changing behavior of the target through a multi-layer sensor module; and inputting the enhanced interaction information into a parallel trajectory prediction decoder, and taking the trajectory prediction result with the highest score in parallel output trajectory prediction results as a final prediction trajectory. According to the invention, vehicle trajectory prediction is carried out only through the historical trajectory information of the vehicle without map information, and the safety of vehicle driving is improved.

    本发明公开了一种车辆轨迹预测方法、系统及存储介质,方法包括:获取目标车的历史轨迹,进行特征编码提取每个目标轨迹时序上的特征;计算每个目标轨迹的边缘特征矩阵,将所述边缘特征矩阵和所述每个目标轨迹时序上的特征输入图神经网络,提取目标之间的交互信息,利用多头自注意力机制强化所述交互信息;将强化后的交互信息和每个目标轨迹时序上的特征进行拼接,通过多层感知器模块预测目标的横向变道行为;将强化后的交互信息输入至并行轨迹预测解码器,将并行输出的轨迹预测结果中得分最高的作为最终预测轨迹。本发明实现了不需要地图信息仅通过车辆的历史轨迹信息进行车辆轨迹预测,提升车辆行驶的安全性。


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    Title :

    Vehicle track prediction method and system and storage medium


    Additional title:

    一种车辆轨迹预测方法、系统及存储介质


    Contributors:
    ZHANG TAO (author) / XIAO YOU (author) / ZHENG WEN (author) / YANG DONGFANG (author) / QIU LIHONG (author)

    Publication date :

    2023-09-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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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