The invention, which relates to the automatic driving field, discloses a Transform-based networked automatic driving vehicle trajectory prediction method comprising the following steps: obtaining vehicle driving data and preprocessing the vehicle driving data to obtain time sequence information of each vehicle; a context vector of each vehicle is obtained by using a Transform encoder; inputting the context vector of each vehicle into a graph neural network to obtain an overall feature context vector I; obtaining a driving intention probability matrix of the current vehicle by using a random forest algorithm; splicing the driving intention probability matrix of the current vehicle and the overall feature context vector I, inputting the spliced driving intention probability matrix and the spliced overall feature context vector I into a decoder, and finally outputting the trajectory distribution probability of the vehicle; through combination of Transformer and GNN, not only can the dynamic state of a single vehicle be understood, but also the relative position and motion relation between vehicles can be understood, so that the vehicle trajectory can be predicted more accurately.
本发明公开了一种基于Transformer的网联自动驾驶汽车轨迹预测方法,涉及自动驾驶领域,获取车辆行驶数据并进行预处理,得到每辆车的时间序列信息;利用Transformer编码器中得到每辆车的上下文向量;将每辆车的上下文向量输入到图神经网络中得到整体特征上下文向量I;利用随机森林算法获得当前车辆的驾驶意图概率矩阵;将当前车辆的驾驶意图概率矩阵与整体特征上下文向量I拼接后,输入到解码器中,最终输出车辆的轨迹分布概率;利用Transformer与GNN结合不仅能够理解单个车辆的动态,还能够理解车辆之间的相对位置和运动关系,从而更准确地预测车辆轨迹。
Transform-based networked autonomous vehicle trajectory prediction method
基于Transformer的网联自动驾驶汽车轨迹预测方法
2025-03-11
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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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