The invention provides an obstacle movement track generation method, device and equipment and an automatic driving vehicle, and relates to the technical field of artificial intelligence, in particular to the technical field of deep learning, the technical field of automatic driving and the technical field of intelligent traffic. According to the specific implementation scheme, feature extraction is conducted on obstacle information and driving environment information related to a vehicle, and obstacle features and environment features are obtained; fusing the obstacle features and the environment features to obtain fused features; feature fusion is carried out on the obstacle intention features, the fusion features, the obstacle features and the environment features, intention fusion features are obtained, and the obstacle intention features are determined according to preset initial obstacle intention information; and according to the intention fusion features, motion trail prediction is carried out on an obstacle related to the vehicle, and an obstacle motion trail related to the obstacle is generated. The method provided by the invention can improve the prediction precision of the obstacle motion trail.

    本公开提供了障碍物运动轨迹生成方法、装置、设备以及自动驾驶车辆,涉及人工智能技术领域,尤其涉及深度学习技术领域、自动驾驶技术领域和智能交通技术领域。具体实现方案为:对与车辆相关的障碍物信息和行驶环境信息分别进行特征提取,得到障碍物特征和环境特征;融合障碍物特征和环境特征,得到融合特征;将障碍物意图特征与融合特征、障碍物特征和环境特征进行特征融合,得到意图融合特征,其中,障碍物意图特征是根据预设的初始障碍物意图信息确定的;以及根据意图融合特征,对与车辆相关的障碍物进行运动轨迹预测,生成与障碍物相关的障碍物运动轨迹。本公开提供的方法可以提升障碍物运动轨迹的预测精度。


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    Title :

    Obstacle motion trail generation method, device and equipment and automatic driving vehicle


    Additional title:

    障碍物运动轨迹生成方法、装置、设备以及自动驾驶车辆


    Contributors:
    SUN HAO (author)

    Publication date :

    2023-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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