The invention relates to an automatic driving prediction-planning integration method based on a traffic heterogeneous graph, and belongs to the technical field of automatic driving automobiles. The method comprises the following steps: S1, modeling intelligent agent dynamic features and interaction features between traffic participants, and designing lane map node feature representation based on a graph convolutional network; s2, an encoding-decoding architecture is adopted, interaction features between lane nodes and agents are captured through a graph attention mechanism, and after feature fusion is carried out, a multi-agent trajectory prediction model based on a traffic heterogeneous graph is constructed; and S3, on the basis of future position information of surrounding vehicles output by the trajectory prediction model, designing a target function and various constraints to carry out self-vehicle action optimization solution. Compared with a traditional planning method, the method is more excellent in prediction performance, safety and driving efficiency.

    本发明涉及一种基于交通异构图的自动驾驶预测‑规划集成方法,属于自动驾驶汽车技术领域。该方法包括:S1:建模智能体动态特征以及交通参与者之间的交互特征,并设计基于图卷积网络的车道图节点特征表示;S2:采用编码‑解码架构,通过图注意力机制捕捉车道节点与智能体之间的交互特征,进行特征融合后构建基于交通异构图的多智能体轨迹预测模型;S3:基于轨迹预测模型输出的周围车辆未来位置信息,设计目标函数及多种约束来进行自车动作最优化求解。与传统规划方法相比,本发明预测性能、安全性以及行驶效率更加优异。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Automatic driving prediction-planning integration method based on traffic heterogeneous graph


    Weitere Titelangaben:

    一种基于交通异构图的自动驾驶预测-规划集成方法


    Beteiligte:
    TANG XIAOLIN (Autor:in) / ZHANG KUNYI (Autor:in) / SU QIZHENG (Autor:in) / WU YANDONG (Autor:in) / YANG WEI (Autor:in) / LI JIACHENG (Autor:in)

    Erscheinungsdatum :

    06.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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



    Heterogeneous graph collaborative learning traffic flow prediction method

    NIU XINZHENG / LUO JIAQING / ZHOU YIKAI et al. | Europäisches Patentamt | 2025

    Freier Zugriff

    Heterogeneous Modular Traffic Prediction Based on Multilayer Graph Convolutional Network

    Chang, Mengmeng / Ding, Zhiming / Zhao, Zilin et al. | IEEE | 2024


    Graph-based Planning-informed Trajectory Prediction for Autonomous Driving

    Dong, Qing / Jiang, Titong / Xu, Tao et al. | IEEE | 2022


    Automatic driving forklift traffic planning method based on storage space coordinates

    SONG QI / DING GUANYU / LI CHAO et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    End-to-end automatic driving behavior planning method based on graph attention

    DING YONG / HAN HAO / CHENG HUAYUAN et al. | Europäisches Patentamt | 2024

    Freier Zugriff