本发明涉及一种行人行为预测方法及装置,属于行为预测技术领域。本发明除了获取行人历史轨迹数据外,还获取行人周围车辆信息,根据行人周围车辆信息和所述平均速度确定相关时间序列,所述相关时间序列包括行人以当前速行驶通过斑马线的时间、减速至与车辆保持安全距离的时间和保证不发生碰撞且与车辆保持安全距离下行人离开斑马线的时间,根据行人历史轨迹数据、车辆与行人的间距、相关时间序列对行人未来行为状态概率进行预测,利用得到的行为状态概率预测行人行为轨迹,实现对行人行为的预测。本发明充分考虑了行人在过路口斑马线时车辆对行人行为的影响,预测的行人行为与实际情况更加符合,提高了行人行为预测的准确性。

    The invention relates to a pedestrian behavior prediction method and device, and belongs to the technical field of behavior prediction. According to the invention, the pedestrian historical trajectory data and the pedestrian surrounding vehicle information are acquired, and the related time sequence is determined according to the pedestrian surrounding vehicle information and the average speed; the related time sequence comprises the time when the pedestrian passes through the zebra crossing at the current speed, the time when the pedestrian is decelerated until the pedestrian keeps a safe distance with the vehicle, and the time when the pedestrian leaves the zebra crossing when the pedestrian does not collide and keeps the safe distance with the vehicle; and predicting the pedestrian future behavior state probability according to the pedestrian historical trajectory data, the distance between the vehicle and the pedestrian and the related time sequence, and predicting the pedestrian behavior trajectory by using the obtained behavior state probability to realize the prediction of the pedestrian behavior. According to the method, the influence of the vehicle on the pedestrian behavior when the pedestrian passes through the crossing zebra crossing is fully considered, the predicted pedestrian behavior is more consistent with the actual situation, and the accuracy of pedestrian behavior prediction is improved.


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    Titel :

    一种行人行为预测方法及装置


    Erscheinungsdatum :

    2023-09-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS