The invention discloses a trajectory prediction method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring trajectory data and map data of a plurality of traffic participants in a drivable area; extracting trajectory feature information and map feature information of each traffic participant according to the trajectory data and the map data; inputting the trajectory feature information and the map feature information into a preset network model to obtain a predicted trajectory of each traffic participant; wherein the preset network model is used for extracting spatial features and time features of the traffic participants on each time step according to the trajectory feature information, and determining interaction features of the spatial-temporal features and the lane features of the traffic participants by using a self-attention mechanism. According to the technical scheme, the preset network model and the interaction features of the time features, the spatial features, the spatial-temporal features and the lane features of the traffic participants are utilized, interaction of future trajectories of the traffic participants is considered, and the accuracy and applicability of trajectory prediction are improved.

    本发明公开了一种轨迹预测方法、装置、电子设备及存储介质。该方法包括:采集可行驶区域内多个交通参与者的轨迹数据及地图数据;根据轨迹数据以及地图数据提取各交通参与者的轨迹特征信息和地图特征信息;将轨迹特征信息和地图特征信息输入至预设网络模型,得到各交通参与者的预测轨迹;其中,预设网络模型用于根据轨迹特征信息提取每个时间步上各交通参与者的空间特征和时间特征,使用自注意力机制确定各交通参与者的时空特征与车道特征的交互特征。上述技术方案利用预设网络模型以及各交通参与者的时间特征、空间特征、时空特征与车道特征的交互特征,考虑了交通参与者未来轨迹的交互,提高了轨迹预测的精确性和适用性。


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    Title :

    Trajectory prediction method and device, electronic equipment and storage medium


    Additional title:

    轨迹预测方法、装置、电子设备及存储介质


    Contributors:
    CHEN HONGLI (author) / LI RONGHUA (author) / WANG NING (author) / LU LIJING (author) / LI SHUGUANG (author) / LU SHAORAN (author) / XIU JIE (author) / CHEN GUANG (author)

    Publication date :

    2023-09-15


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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