The invention discloses a method for predicting a lane changing track of an automatic driving vehicle jointly driven by knowledge data. The prediction method comprises the following steps: constructing a knowledge data combined driving automatic driving vehicle lane changing track prediction model; the model comprises a lane changing driving knowledge base composed of lane changing knowledge, a joint prediction module for predicting a lane changing track according to characteristic state quantities of a vehicle and surrounding vehicles and the lane changing knowledge, and a knowledge summarization module for summarizing prediction results to obtain a final prediction track, the joint prediction module comprises a dynamic space module formed based on a multi-head graph attention network, a dynamic time sequence module constructed based on a multi-head self-attention mechanism, and a trajectory prediction module. According to the method, knowledge about the driving process of people can be integrated into the deep learning model, and compared with a deep learning model only driven by data, the prediction accuracy, model transparency and maintainability are remarkably improved.

    本发明公开了一种知识数据联合驱动的自动驾驶车辆换道轨迹预测方法。所述预测方法包括构建知识数据联合驱动的自动驾驶车辆换道轨迹预测模型,该模型包括:由换道知识组成的换道驾驶知识库、根据自车和周围车的特征状态量及换道知识进行换道轨迹预测的联合预测模块、将预测结果汇总得到最终预测轨迹的知识汇总模块,其中,联合预测模块包括基于多头图注意力网络构成的动态空间模块、基于多头自注意力机制构建的动态时序模块和轨迹预测模块。本发明可将关于人的驾驶过程的知识融入到深度学习模型中,相对于仅使用数据驱动的深度学习模型,显著提升了预测准确性、模型透明度与可维护性。


    Access

    Download


    Export, share and cite



    Title :

    Knowledge data combined driving automatic driving vehicle lane changing track prediction method


    Additional title:

    一种知识数据联合驱动的自动驾驶车辆换道轨迹预测方法


    Contributors:
    SUN CHAO (author) / WEN DA (author) / NING CHANGJIU (author) / WANG BO (author) / SUN FENGCHUN (author)

    Publication date :

    2024-11-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



    Lane changing track generation method and device for automatic driving vehicle

    XIANG NAN | European Patent Office | 2020

    Free access



    Method for determining limit lane changing track of automatic driving vehicle at entrance lane of intersection

    ZONG FANG / DONG QIANWEI / TANG MING et al. | European Patent Office | 2023

    Free access

    Vehicle track optimization control method for automatic driving lane

    XU CHENGCHENG / CHEN YUFEI / JIANG XUAN et al. | European Patent Office | 2024

    Free access