The invention relates to a trajectory prediction method and device fusing kinematics and environmental cognition. The method comprises the following steps: based on a pre-constructed coding module, carrying out feature extraction and interactive learning on a first historical track, a second historical track and traffic environment information after preprocessing to obtain a target vehicle track feature, a surrounding vehicle advanced track feature related to the target vehicle and an environment advanced feature; inputting the target vehicle trajectory features, the surrounding vehicle advanced trajectory features and the environment advanced features into a pre-constructed prediction decoding module for decoding prediction processing to obtain a predicted acceleration corresponding to the current moment; and inputting the predicted acceleration and the current position and the current speed of the target vehicle into a kinematics simulation model for iterative motion simulation to obtain a trajectory prediction result of a future preset time step length. The acceleration and trajectory prediction and iteration can be carried out from the perspective of gradual simulation from the perspective of kinematics, so that the interpretability can be ensured, and the trajectory prediction accuracy can be improved.
本公开涉及一种融合运动学和环境认知的轨迹预测方法及装置。该方法包括:基于预先构建好的编码模块,对预处理后的第一历史轨迹、第二历史轨迹和交通环境信息进行特征提取和交互学习,得到目标车辆轨迹特征、与目标车辆相关的周围车辆高级轨迹特征和环境高级特征;将目标车辆轨迹特征、周围车辆高级轨迹特征和环境高级特征输入至预先构建好的预测解码模块进行解码预测处理,得到当前时刻对应的预测加速度;将预测加速度、目标车辆的当前位置和当前速度输入至运动学模拟模型进行迭代运动模拟,得到未来预设时间步长的轨迹预测结果。能够从运动学角度逐步模拟的角度来进行加速度和轨迹的预测和迭代,既能保证可解释性,还能提升轨迹预测的准确性。
Track prediction method and device fusing kinematics and environmental cognition
融合运动学和环境认知的轨迹预测方法及装置
2024-11-29
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 |
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