The invention discloses a trajectory prediction network model construction method, which comprises the steps that a first encoder module and a second encoder module are configured, the first encoder module is configured to determine first input feature data according to the position of a predicted agent at the current moment, an environment image at the current moment and a preset latent query feature vector, and the second encoder module is configured to determine second input feature data according to the first input feature data; the second encoder module is configured to determine second input feature data according to the position of the predicted intelligent agent, projection data of the environment image at the previous moment of the current moment and a preset latent query feature vector; a decoder module is configured, where the decoder module is configured to determine a target predicted trajectory based on the first input feature data and the second input feature data. According to the trajectory prediction network model construction method provided by the embodiment of the invention, the trajectory prediction network model configured with at least two groups of encoder modules can be constructed to eliminate the space-time dislocation condition existing in the encoder output data, so that the trajectory prediction accuracy is improved.
本申请公开了一种轨迹预测网络模型构建方法,包括:配置第一编码器模块以及第二编码器模块,其中第一编码器模块被配置为根据当前时刻的被预测智能体位置、当前时刻的环境图像以及预设潜查询特征向量,确定第一输入特征数据,第二编码器模块被配置为根据被预测智能体位置以及环境图像在当前时刻的前一时刻的投影数据、以及预设潜查询特征向量,确定第二输入特征数据;配置解码器模块,其中解码器模块被配置为根据第一输入特征数据以及第二输入特征数据,确定目标预测轨迹。本申请实施方式中的轨迹预测网络模型构建方法,能够构建出配置有至少两组编码器模块的轨迹预测网络模型消除编码器输出数据存在的时空错位情况,从而提高轨迹预测的精确度。
Trajectory prediction network model construction method and device, training method and device and storage medium
轨迹预测网络模型构建方法、训练方法、装置及存储介质
2024-01-12
Patent
Electronic Resource
Chinese
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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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