The invention aims to provide a training-based segmented vehicle trajectory prediction method, which comprises the following steps: S1) data acquisition: the data is vehicle driving data acquired on a test road; s2) data preparation: dividing the data set into a training set, a verification set and a test set; s3) model construction: the model comprises a vehicle environment dynamic coding module, a driving habit high-dimensional representation module, a historical track alignment module, a prediction mapping module and a model optimization module, and the model is used for data training; s4) model optimization: in a training process, optimizing model parameters by utilizing the model optimization module; s5) performing prediction by using the model; and utilizing the trained model to carry out segmented prediction on a future trajectory of a target vehicle, constraining a predicted trajectory by predicting an intermediate quantity acceleration and a steering wheel angle, and introducing a driving habit high-dimensional representation vector to ensure the consistency of the predicted trajectory.
本发明的目的在于提供一种基于训练的分段式车辆轨迹预测方法,所述方法包括:S1)数据采集,所述数据为在试验道路采集的车辆行驶数据;S2)数据准备,将所述数据集划分为训练集,验证集和测试集;S3)模型构建,所述模型包括车辆环境动态编码模块、驾驶习惯高维表征模块、历史轨迹对齐模块、预测映射模块以及模型优化模块,所述模型用于数据训练;S4)模型优化,训练过程中,利用所述模型优化模块优化模型参数;S5)使用模型进行预测;利用训练好的模型对目标车辆的未来轨迹进行分段预测,通过预测中间量加速度和方向盘转角来约束预测轨迹,并引入驾驶习惯高维表征向量以保证预测轨迹的一致性。
Segmented vehicle trajectory prediction method based on training
一种基于训练的分段式车辆轨迹预测方法
2025-01-07
Patent
Electronic Resource
Chinese
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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