The invention provides a trajectory prediction method and device, and a storage medium. The method comprises the steps of obtaining historical motion data and a scene representation set of a to-be-predicted object; generating a candidate track set based on the historical motion data and the scene representation set; and processing the candidate trajectory set by using a pre-trained prediction head to obtain a future trajectory set of the to-be-predicted object. According to the method, the candidate track set is generated based on the historical motion data and the scene representation set containing all information of the current motion scene, tracks in the candidate track set generated based on the two pieces of information have richer modal diversity, and all scene context information of the current motion scene is introduced through the scene representation set; and the track accuracy is improved. The prediction head is adopted to process the tracks in the candidate track set, and the tracks which deviate seriously in the candidate track set are filtered out, so that the output future track set is closer to the tracks of the to-be-predicted object in the real environment, and the prediction accuracy is improved.
本申请提出一种轨迹预测方法、设备及存储介质,该方法包括:获取待预测物体的历史运动数据及场景表示集合;基于历史运动数据和场景表示集合,生成候选轨迹集合;采用预先训练的预测头对候选轨迹集合进行处理,得到待预测物体的未来轨迹集合。本申请基于历史运动数据和包含当前运动场景所有信息的场景表示集合生成候选轨迹集合,基于这两个信息生成的候选轨迹集合中的轨迹具有更丰富的模态多样性,且通过场景表示集合引入当前时刻运动场景的所有场景上下文信息,提高轨迹的准确性。采用预测头对候选轨迹集合中的轨迹进行处理,将候选轨迹集合中偏离严重的轨迹过滤掉,使得输出的未来轨迹集合更接近待预测物体在真实环境下的轨迹,提高预测准确性。
Trajectory prediction method and device, equipment and storage medium
轨迹预测方法、装置、设备及存储介质
2023-09-22
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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