The invention discloses an autonomous valet parking scene-oriented vehicle motion track prediction method, which comprises the following steps of S1, calibrating a space sensing range of a target vehicle, vectorizing a map and an object in a bird's-eye view video of an autonomous valet parking scene, and acquiring motion information of the target vehicle and surrounding vehicles from the video; s2, searching empty parking spaces and road end points around the target vehicle as parking intention points of the target vehicle within the vehicle sensing range, extracting scene factors and vehicle factors, and calculating to obtain parking intention information of the target vehicle by using a neural network and probability allocation; and S3, through an encoder-decoder algorithm structure of an attention mechanism, based on the motion information of the target vehicle and the surrounding vehicles, the scene information of the target vehicle, the parking intention information of the target vehicle and the vector map information, generating a multimodal vehicle future trajectory. According to the method, the vehicle motion track in the autonomous valet parking scene can be predicted more accurately, and then automatic driving decision planning is supported.

    本发明公开了一种面向自主代客泊车场景的车辆运动轨迹预测方法,包括以下步骤:S1、标定目标车辆的空间感知范围,同时将自主代客泊车场景的鸟瞰视频中的地图与物体矢量化,从视频中获取目标车辆及周围车辆的运动信息;S2、在车辆感知范围内,搜索目标车辆周围的空停车位与道路端点作为目标车辆的停车意图点,提取场景因素与车辆自身因素,分别使用神经网络和概率分配计算得到目标车辆的停车意图信息;S3、通过注意力机制的编码器‑解码器算法结构与基于目标车辆与周围车辆的运动信息、目标车辆所在的场景信息、目标车辆的停车意图信息与矢量地图信息生成多模态车辆未来轨迹。根据本发明,能够更加精准地预测自主代客泊车场景中车辆运动轨迹,进而支撑自动驾驶决策规划。


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    Title :

    Autonomous valet parking scene-oriented vehicle motion trail prediction method


    Additional title:

    一种面向自主代客泊车场景的车辆运动轨迹预测方法


    Contributors:
    ZHAO CONG (author) / ZENG ZIMU (author) / SONG ANDI (author) / DU YUCHUAN (author)

    Publication date :

    2024-01-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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    Free access