The invention relates to a vehicle trajectory prediction method and system fusing large kernel convolution and an attention mechanism. The system comprises an encoder module, a multi-head space attention module, a large kernel convolution pooling module, a convolution modulation module, an intention recognition module and a decoder module. Spatial interaction between a target vehicle and surrounding vehicles is modeled through a multi-head spatial attention mechanism. Meanwhile, an LKCP module, an intention recognition module and a CM module are creatively introduced. Wherein the LKCP module can additionally consider space interaction among surrounding vehicles, and the space interaction modeling capability among the vehicles is further enhanced; the intention recognition module deduces the maneuvering category of the vehicle based on the historical state information of the vehicle, and provides a basis for multi-modal trajectory prediction; and the CM module further captures the time dependence between moments in the historical trajectory of the target vehicle on the basis of the LSTM, so that the capture of the hidden state of the time dimension is enhanced. And multi-modal trajectory prediction of the target vehicle is realized.
本发明涉及一种融合大核卷积和注意力机制的车辆轨迹预测方法及系统,所述系统包括编码器模块、多头空间注意力模块、大核卷积池化模块、卷积调制模块、意图识别模块和解码器模块。本发明通过多头空间注意力机制建模目标车辆与周围车辆的空间交互。同时,创造性地引入了LKCP模块、意图识别模块和CM模块。其中,LKCP模块能够额外考虑周围车辆之间的空间交互,进一步增强了车辆间的空间互动建模能力;意图识别模块基于车辆历史状态信息推断车辆的机动类别,为多模态轨迹预测提供了基础;而CM模块在LSTM的基础上进一步捕捉目标车辆历史轨迹中各时刻之间的时间依赖性,增强了对时间维度隐藏状态的捕捉。实现了目标车辆的多模态轨迹预测。
Vehicle trajectory prediction method and system fusing large kernel convolution and attention mechanism
一种融合大核卷积和注意力机制的车辆轨迹预测方法及系统
18.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | 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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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