The invention discloses an interactive trajectory prediction method and system considering driving style uncertainty, and relates to the technical field of automatic driving. The method comprises the following steps: receiving a vehicle state information data set obtained based on a typical road, carrying out data preprocessing, and dividing the preprocessed data into a training set and a test set; based on the preprocessed data, the driving condition is optimized, and the vehicle driving style is identified by using a Gaussian hybrid clustering method to obtain driving style information; and a trajectory prediction model is constructed, the trajectory prediction model comprises an encoder part and a decoder part, and a lane attention mechanism and a multi-head attention mechanism are introduced into the encoder part. The method can accurately capture and predict the complex interaction behavior between the automatic driving vehicle and the human driving vehicle in the face of diversified driving styles and complex traffic states, and by combining the uncertainty of the driving styles, the model can better understand the personalized behavior mode of the driver, and the trajectory prediction accuracy is improved.
本发明公开了考虑驾驶风格不确定性的交互式轨迹预测方法及系统,涉及自动驾驶技术领域。本发明包括:接收基于典型道路得到的车辆状态信息数据集进行数据预处理,并将预处理后的数据划分为训练集与测试集;基于预处理后的数据,对驾驶工况进行优化,并利用高斯混合聚类方法对车辆驾驶风格进行辨识,得到驾驶风格信息;构建轨迹预测模型,所述轨迹预测模型包括编码器部分与解码器部分,且编码器部分引入车道注意力机制和多头注意力机制。本发明能够在面对多样化的驾驶风格和复杂交通状态时,精准捕捉和预测自动驾驶车辆与人类驾驶车辆之间的复杂交互行为,通过结合驾驶风格不确定性,模型更好地理解驾驶员的个性化行为模式,提升轨迹预测准确性。
Interactive trajectory prediction method and system considering driving style uncertainty
考虑驾驶风格不确定性的交互式轨迹预测方法及系统
2025-03-28
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 |