The invention relates to a multi-modal trajectory prediction method based on vehicle interaction diagram space-time decoupling coding, and belongs to the technical field of automatic driving automobiles. The method comprises the following steps: generating graph structure data according to a traffic scene trajectory data set; constructing an interaction graph considering multiple traffic factors based on the graph structure data; when the characteristics of the interaction graph are updated, capturing the change of the node characteristics of the interaction graph on a time sequence through a time sequence coding module; multi-modal prediction is completed by constructing a trajectory decoding module and a fractional decoding module; and designing a prediction model loss objective function and carrying out training. According to the method, the influence of multi-source factors on motion prediction is combined through a heterogeneous graph attention method, decoupling coding is carried out on spatial-temporal characteristics, and the characteristics on a time sequence are better captured. Compared with a traditional vehicle track prediction method, the method can complete more refined prediction, and is better in scene generalization.

    本发明涉及一种基于车辆交互图时空解耦编码的多模态轨迹预测方法,属于自动驾驶汽车技术领域。该方法包括:根据交通场景轨迹数据集生成图结构数据;基于图结构数据构建考虑多元交通因素的交互图;当交互图更新特征时通过时序编码模块捕捉交互图节点特征在时间序列上的变化;通过构建轨迹解码模块以及分数解码模块完成多模态预测;设计预测模型损失目标函数并进行训练。本发明通过异构图注意方法结合了多源因素对运动预测的影响,同时对时空特征进行解耦编码,更好地捕捉时间序列上的特征。与传统车辆轨迹预测方法相比,本发明可以完成更加精细化的预测,并且对于场景泛化性更好。


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    Title :

    Multi-modal trajectory prediction method based on vehicle interaction diagram space-time decoupling coding


    Additional title:

    一种基于车辆交互图时空解耦编码的多模态轨迹预测方法


    Contributors:
    TANG XIAOLIN (author) / ZHANG KUNYI (author) / CHEN ZHIGE (author) / YANG WEI (author) / LI JIACHENG (author) / WU YANDONG (author) / ZHANG YAN (author)

    Publication date :

    2025-01-21


    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 / 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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