The invention discloses a vehicle track prediction method based on an intention perception space-time attention network, and relates to the technical field of intelligent vehicles. The method comprises the following steps: step 1, offline training of a vehicle trajectory prediction model: constructing a training database and training the vehicle trajectory prediction model through acquisition and processing of a large-scale real driving scene; and 2, on-line real-time prediction of the vehicle track prediction model: after real-time data acquisition and data preprocessing of the vehicle, the trained vehicle track prediction model is used for on-line real-time prediction, and the track of the target vehicle can be predicted. In consideration of the coupling between the driving intention and the neighbor vehicle interaction, an intention attention mechanism is provided, and attention weights are distributed in the time dimension to extract historical information of the vehicle; an interaction relation capturing module is introduced, the influence of different neighbor vehicles on a target vehicle is obtained based on a multi-head attention mechanism, interaction information between the vehicles is captured in the spatial dimension, the precision of long-term trajectory prediction is improved, and the lane changing intention of surrounding vehicles is effectively predicted.
一种基于意图感知时空注意网络的车辆轨迹预测方法,涉及智能车辆技术领域。步骤1:车辆轨迹预测模型的离线训练:分为通过大规模真实驾驶场景的采集和处理构建训练数据库和训练车辆轨迹预测模型两部分;步骤2:车辆轨迹预测模型的在线实时预测:车辆实时采集数据和数据预处理之后,用训练好的车辆轨迹预测模型在线实时预测,即可预测目标车的轨迹。考虑驾驶意图与邻居车辆交互的耦合性,提出一种意图注意机制,在时间维度上分配注意力权重以提取车辆的历史信息;引入交互关系捕捉模块,基于多头注意力机制获取不同邻居车辆对目标车辆的影响,在空间维度上捕捉车辆之间的交互信息,提升长期轨迹预测的精度,有效地实现预测周围车辆的换道意图。
Vehicle track prediction method based on intention perception space-time attention network
一种基于意图感知时空注意网络的车辆轨迹预测方法
2023-12-01
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V |
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