The invention provides an obstacle trajectory prediction method and a related device, and relates to the technical field of artificial intelligence, in particular to the technical field of automatic driving, intelligent driving and trajectory prediction. According to the specific implementation scheme, historical behavior characteristics of traffic participants and topological characteristics of road topology of a road section where a target obstacle is located are coded, and scene coding characteristics are obtained; the traffic participants at least comprise a target obstacle; determining a potential moving path of the target obstacle based on the scene coding features and first probability distribution predicted by a path anchor point set on the road topology; and on the basis of a candidate anchor point set on the potential moving path and second probability distribution predicted by the scene coding features, determining at least one moving track point of the target obstacle on the potential moving path in a future specified duration. In the embodiment of the invention, the trajectory prediction is progressively decoupled into the potential moving path and the moving trajectory point, so that the trajectory of the obstacle can be effectively predicted.
本公开提供了一种障碍物的轨迹预测方法及相关装置,涉及人工智能技术领域,尤其涉及自动驾驶、智能驾驶、轨迹预测技术领域。具体实现方案为:对交通参与者的历史行为特征和目标障碍物所在路段的道路拓扑的拓扑特征进行编码,得到场景编码特征;交通参与者至少包括目标障碍物;基于场景编码特征以及道路拓扑上的路径锚点集合预测出的第一概率分布,确定目标障碍物的潜在移动路径;基于潜在移动路径上的候选锚点集合和场景编码特征预测出的第二概率分布,确定目标障碍物在未来指定时长内在潜在移动路径上的至少一个移动轨迹点。本公开实施例中,将轨迹预测递进式地解耦为潜在移动路径和移动轨迹点,能够有效的预测障碍物的轨迹。
Obstacle trajectory prediction method and related device
障碍物的轨迹预测方法及相关装置
2025-02-14
Patent
Electronic Resource
Chinese
Obstacle trajectory prediction method and device, and related product
European Patent Office | 2024
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