The invention discloses a multi-modal trajectory prediction method, and the method specifically comprises the following steps: S1, carrying out the preprocessing of multi-modal data, and unifying the historical trajectory of an automatic driving vehicle, the historical trajectory of a target, and the information of nearby lanes into a target coordinate system; s2, encoding the preprocessed data, and mapping multi-modal input to a hidden layer; and S3, lane sensing selection is carried out on the coded hidden layer. According to the trajectory prediction method considering the interaction of the autonomous vehicle and the scene obstacle, the autonomous vehicle and the obstacle in the scene are unified as an intelligent moving body, and the safety of target trajectory prediction in a complex scene is improved; a lane perception estimation method is provided, the incidence relation between a target and a lane in a map is recognized, a high-possibility lane is extracted, the method is beneficial to guiding a target prediction track to the most probable lane, and the accuracy of target track prediction is improved.

    本发明公开了多模态轨迹预测方法,具体包括以下步骤:步骤S1,对多模态数据进行预处理,将自动驾驶车辆的历史轨迹、目标的历史轨迹、附近车道信息统一至目标坐标系;步骤S2,对预处理后的数据进行编码,将多模态输入映射到隐藏层;步骤S3,对编码后的隐藏层进行车道感知选择。本发明考虑自动驾驶车辆与场景障碍物交互的轨迹预测方法,将自动驾驶车辆与场景中的障碍物统一为智能运动体,提高了复杂场景下目标轨迹预测的安全性;提出了车道感知估计方法,识别目标与地图中车道的关联关系、提取高可能性车道,这种方法有助于将目标预测轨迹引导至最具可能性的车道上,提高目标轨迹预测的准确性。


    Access

    Download


    Export, share and cite



    Title :

    Multi-modal trajectory prediction method


    Additional title:

    一种多模态轨迹预测方法


    Contributors:
    JIANG WENJUAN (author) / JIN ZHI (author) / WANG REN (author) / SHI LINGFENG (author) / QIU JUNWEI (author) / ZHANG DEHONG (author)

    Publication date :

    2023-12-29


    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



    Multi-modal multi-agent trajectory prediction

    SUN PEI / ZHAO HANG / MCCAULEY ALEXANDER et al. | European Patent Office | 2024

    Free access

    MULTI-MODAL MULTI-AGENT TRAJECTORY PREDICTION

    SUN PEI / ZHAO HANG / MCCAULEY ALEXANDER et al. | European Patent Office | 2022

    Free access

    Multi-modal vehicle trajectory prediction based on mutual information

    Fei, Cong / He, Xiangkun / Ji, Xuewu | IET | 2020

    Free access

    Multi-modal vehicle trajectory prediction method based on hierarchical order network

    WANG JUNSHENG / XU WEIXIANG | European Patent Office | 2023

    Free access

    Interactive vehicle multi-modal trajectory prediction method based on GRU-GCN

    MENG ZHIWEI / ZHANG SUMIN / HE RUI et al. | European Patent Office | 2023

    Free access