The invention belongs to the field of unmanned driving, and provides an unmanned vehicle group forming method based on trajectory prediction, which comprises the following steps: step 1, related definition; 2, predicting the track of the unmanned vehicle based on a multi-head attention mechanism; and step 3, a driverless vehicle group forming method based on trajectory prediction. The invention provides an unmanned neighbor vehicle set extraction method based on a Pareto optimal theory. An unmanned vehicle track prediction algorithm is provided based on a multi-head attention mechanism; a leading node election algorithm is given; a trajectory separation degree used for measuring the stability of the vehicle group is provided, and on the basis, an unmanned vehicle group forming method based on trajectory prediction is provided; evaluation indexes such as the average vehicle group trajectory separation degree, the node participation rate, the communication transmission cost, the node survival time and the vehicle group survival time are given, and a simulation experiment is constructed to perform validity and stability verification on the proposed unmanned vehicle group.

    本发明属于无人驾驶领域,提出了基于轨迹预测的无人驾驶车群形成方法,包括:步骤1.相关定义;步骤2.基于多头注意力机制的无人驾驶车辆轨迹预测;步骤3.基于轨迹预测的无人驾驶车群形成方法。本发明给出了基于帕累托最优理论的无人驾驶邻居车辆集合提取方法;基于多头注意力机制提出了无人驾驶车辆轨迹预测算法;给出了引领节点选举算法;提出了用来度量车群稳定性的轨迹分离度,在此基础上,提出了基于轨迹预测的无人驾驶车群形成方法;给出了平均车群轨迹分离度、节点参与率、通信传输成本、节点生存时间、车群生存时间等评价指标,构建仿真实验对提出的无人驾驶车群进行了有效性和稳定性验证。


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    Title :

    Unmanned vehicle group forming method based on trajectory prediction


    Additional title:

    基于轨迹预测的无人驾驶车群形成方法


    Contributors:
    CHENG JIUJUN (author) / HOU MENGNAN (author) / MAO QICHAO (author)

    Publication date :

    2024-05-07


    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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