The invention relates to the technical field of automatic driving, in particular to a pedestrian trajectory prediction method and device, and the method comprises the steps: obtaining the current driving state of a vehicle, determining a target prediction region according to the current driving state, and recognizing all pedestrians in the target prediction region as target pedestrians; performing rule and data driven pedestrian intention judgment on the target pedestrian to obtain an intention prediction result; performing end point prediction based on rule and data driving according to the intention prediction result to obtain a fusion end point value; and obtaining historical trajectory information of the target pedestrian, and obtaining a predicted trajectory of the target pedestrian according to the historical trajectory information and the fused end point value. According to the embodiment of the invention, the target prediction area and the target pedestrian can be determined according to the current driving state, the computing power is reasonably utilized, meanwhile, the prediction efficiency is improved, intention judgment and end point prediction are carried out by fusing rules and a data driving mode, and the accuracy of predicting the pedestrian trajectory is improved.

    本申请涉及自动驾驶技术领域,特别涉及一种行人轨迹预测方法及装置,其中,方法包括:获取车辆的当前行驶状态,根据当前行驶状态确定目标预测区域,并将目标预测区域内的所有行人识别为目标行人;对目标行人进行基于规则和数据驱动的行人意图判定,得到意图预测结果;根据意图预测结果进行基于规则和数据驱动的终点预测,得到融合终点值;获取目标行人的历史轨迹信息,根据历史轨迹信息和融合终点值得到目标行人的预测轨迹。本申请实施例可以根据当前行驶状态确定目标预测区域及目标行人,合理的利用了算力,同时提高了预测效率,并融合规则和数据驱动方式进行意图判定和终点预测,提高了预测行人轨迹的准确性。


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    Title :

    Pedestrian trajectory prediction method and device


    Additional title:

    一种行人轨迹预测方法及装置


    Contributors:
    ZHENG WEN (author) / LIU CHUANG (author) / XU GUANGYU (author) / ZHANG ZHONGXU (author)

    Publication date :

    2023-08-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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