The invention discloses a probability-based pedestrian position prediction method and device, relates to the technical field of automatic driving, and mainly aims to fully represent the uncertainty of the future position of a pedestrian. According to the main technical scheme, the method comprises the steps of obtaining target historical position data of all pedestrians in a target geographic range; based on the target historical position data, obtaining a corresponding two-dimensional Gaussian distribution parameter value by using a preset LSTM neural network model; and on the basis of the two-dimensional Gaussian distribution parameter values, obtaining a probability region corresponding to a preset confidence coefficient on a global map by using a two-dimensional probability density distribution curved surface as a predicted position of the pedestrian in a preset time range. The method is used for pedestrian position prediction.
本发明公开了一种基于概率的行人位置预测方法及装置,涉及自动驾驶技术领域,主要目的在于实现充分表示行人未来所在位置的不确定性。本发明主要的技术方案为:获取目标地理范围内的所有行人的目标历史位置数据;基于所述目标历史位置数据,利用预设LSTM神经网络模型获取对应的二维高斯分布参数数值;基于所述二维高斯分布参数数值,利用二维概率密度分布曲面获取地图全局上的预设置信度对应的概率区域作为所述行人在预设时间范围内的预测位置。本发明用于行人位置预测。
Probability-based pedestrian position prediction method and device
一种基于概率的行人位置预测方法及装置
2024-01-30
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 / 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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