The invention discloses a trajectory prediction method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the road information of a position where a target vehicle is located, and obtaining the state information related to a traffic participant; encoding and decoding the obtained road information and state information through a preset network model to obtain global features, determining a future trajectory of the traffic participant and Gaussian distribution of the future trajectory according to the global features, and determining the traffic participant according to features corresponding to the state information in the global features. And determining an interaction relationship between the traffic participant and the target vehicle and a static starting probability of the traffic participant. Since the model outputs the prediction trajectory and Gaussian distribution of the trajectory, the uncertainty of the trajectory can be represented. And the interaction relationship of the traffic participant relative to the vehicle and the static starting probability of the traffic participant output by the model represent the semantics of the traffic participant relative to the vehicle, so that the vehicle can conveniently plan the driving track of the vehicle according to the semantic information.
本申请公开了一种轨迹预测方法、装置、电子设备及存储介质,方法包括:获取目标车辆所处位置的道路信息,以及获取与交通参与主体相关的状态信息;通过预设网络模型对获取的道路信息和状态信息进行编解码处理得到全局特征,并根据全局特征确定交通参与主体的未来轨迹和未来轨迹的高斯分布,以及根据全局特征中状态信息对应的特征,确定交通参与主体相对目标车辆的交互关系和交通参与主体的静止起步概率。由于模型除了输出预测轨迹,还输出了轨迹的高斯分布,可以表示轨迹的不确定性。并且模型输出的交通参与主体相对车辆的交互关系和交通参与主体的静止起步概率,表示了交通参与主体相对车辆的语义,有利于车辆根据该语义信息规划自车的行驶轨迹。
Trajectory prediction method and device, electronic equipment and storage medium
一种轨迹预测方法、装置、电子设备及存储介质
2025-05-16
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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