The invention discloses a multi-modal trajectory prediction method based on target driving, a vehicle, equipment and a medium, and the method comprises the steps: obtaining a high-precision automatic driving data set which comprises trajectory data of road participants and a vectorized high-precision map, obtaining trajectory features and map features, and fusing the features through LaneGCN and a space attention layer; predicting Ke candidate targets # imgabs0 # for each road participant, and calculating a confidence score; screening out a candidate target with the highest confidence score as a prediction target, regarding a region within a certain range of the prediction target as a GOI region, and coding the GOI region to obtain a final feature; predicting Ka prediction trajectories and confidence degree scores corresponding to the trajectories for each road participant by using the final features; and after training is completed, selecting the prediction trajectory with the highest confidence score as a final trajectory prediction result. According to the method, complex and uncertain traffic conditions can be better processed, and the accuracy of track prediction is improved.
本发明公开了一种基于目标驱动的多模态轨迹预测方法、车辆、设备及介质,该方法包括:获取高精度自动驾驶数据集,包括道路参与者的轨迹数据以及矢量化高精度地图,分别获得轨迹特征和地图特征,利用LaneGCN和空间注意力层融合特征;给每个道路参与者预测Ke个候选目标#imgabs0#并计算置信度分数;筛选出置信度分数最高的候选目标作为预测目标,并将预测目标一定范围内的区域视为GOI区域,对GOI区域编码得到最终的特征;利用最终的特征为每个道路参与者预测出Ka条预测轨迹以及轨迹对应的置信度分数;训练完成后,选取置信度分数最高的预测轨迹作为最终的轨迹预测结果。本发明可以更好地处理复杂的和不确定的交通情况,提高轨迹预测的准确性。
Multi-modal trajectory prediction method based on target driving, vehicle, equipment and medium
基于目标驱动的多模态轨迹预测方法、车辆、设备及介质
2024-12-31
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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