The invention provides a vehicle driving intention prediction method based on an improved transformer model. The vehicle driving intention prediction method comprises the following specific steps: 1) preprocessing a data set; extracting tracks and driving characteristics of a main vehicle (a target vehicle) and surrounding vehicles, and extracting road environment information; and setting a virtual vehicle to keep data consistency. 2) extracting a lane changing sample and a straight keeping sample by adopting a fixed time length of 5s, reconstructing a sample set based on different time lengths, and dividing the sample set into a training set and a test set; and 3) selecting the driving information of the main vehicle and the interaction information of the surrounding vehicles as input data, constructing a driving intention prediction model, and predicting three driving intentions of left lane changing, right lane changing and straight driving keeping in combination with the input data and the prediction model. According to the method, the driving intention prediction task is performed based on short-time data in the sensing range for automatic driving, compared with the prior art, the road environment information is further considered, the improved tranformer model is adopted to deeply mine data features, and the driving intention of the vehicle can be accurately predicted.
本发明提出一种基于改进transformer模型的车辆驾驶意图预测方法,具体步骤:1)进行数据集预处理;提取主车(目标车辆)和周围车辆的轨迹与行驶特征,提取道路环境信息;设置虚拟车辆保持数据一致性。2)采取固定时间长度5s提取换道样本和保持直行样本,基于不同时间长度重构样本集并划分为训练集和测试集。3)选择主车行驶信息和周车交互信息作为输入数据,构建驾驶意图预测模型,结合输入数据与预测模型对左换道、右换道、保持直行三种驾驶意图进行预测。本发明面向自动驾驶基于感知范围内的短时数据进行驾驶意图预测任务,与现有技术相比,所提方法进一步考虑了道路环境信息,采取改进的trasnformer模型深入挖掘数据特征,可准确预测车辆的驾驶意图。
Vehicle driving intention prediction method based on improved transformer model
基于改进transformer模型的车辆驾驶意图预测方法
2024-10-29
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 / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
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