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。
Knowledge data combined driving automatic driving vehicle lane changing track prediction method
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
2024-11-01
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 |
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