The invention discloses a trajectory prediction method based on stable mathematical embedding. The method comprises the following steps: S1, inputting trajectories of lanes and intelligent agents in a traffic scene into a HiVT model for vectorization; s2, dividing the vectorized traffic scene into a set number of local areas in the HiVT model, and fusing the interaction between the intelligent agents established in each local area by using a local encoder to obtain a corresponding local context vector; s3, performing self-attention operation on each local context vector by using a global interaction module in the HiVT model to obtain a corresponding global context vector; and S4, inputting the local context vector and the global context vector into a multi-modal trajectory decoder in the HiVT model, and predicting the motion trajectory of the intelligent agent.
本发明公开了一种基于稳定数理嵌入的轨迹预测方法,包括如下步骤:S1.将交通场景中的车道和智能体的轨迹输入到HiVT模型中进行向量化;S2.在HiVT模型中将向量化后的交通场景划分成设定数量的局部区域,并使用局部编码器分别对各个局部区域内建立的智能体之间的交互进行融合,以得到对应的局部上下文向量;S3.在HiVT模型中使用全局交互模块对各个局部上下文向量进行自注意力操作,以得到对应的全局上下文向量;S4.将局部上下文向量和全局上下文向量输入到HiVT模型中的多模态轨迹解码器中,预测出智能体的运动轨迹。
Track prediction method based on stable mathematical embedding
一种基于稳定数理嵌入的轨迹预测方法
2024-03-29
Patent
Electronic Resource
Chinese
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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