The invention discloses a driving intention recognition method based on trajectory prediction, and the method comprises the steps: obtaining a historical trajectory of a vehicle and a historical high-definition map, and carrying out the preprocessing of the historical trajectory of the vehicle; vectorizing the historical vehicle track and the historical high-definition map to obtain a vector map; constructing a layered sub-graph based on vector elements in the vector map; constructing a global interaction graph based on the layered sub-graphs, and training the global interaction graph by using a VectorNet graph neural network to obtain a future trajectory; marking a transverse driving intention and a longitudinal driving intention for the historical trajectory of the vehicle to obtain a driving intention label; and training the historical vehicle trajectory based on the fusion model to obtain a driving intention recognition model, and recognizing the future trajectory according to the driving intention recognition model to obtain the driving intention, so that the future trajectory can be predicted in real time according to the historical vehicle trajectory, the driving intention recognition can be accurately performed, and the driving intention recognition efficiency is improved. The accuracy of driving intention recognition is improved, and potential traffic accident risks are effectively avoided.
本发明公开了一种基于轨迹预测的驾驶意图识别方法,包括:获取车辆历史轨迹及历史高清地图,对车辆历史轨迹进行预处理;将车辆历史轨迹和历史高清地图向量化,得到向量地图;基于向量地图中的向量元素构建分层子图;基于分层子图构建全局交互图,使用VectorNet图神经网络对全局交互图进行训练,得到未来轨迹;对车辆历史轨迹进行横向驾驶意图和纵向驾驶意图标注,得到驾驶意图标签;基于融合模型对车辆历史轨迹进行训练,得到驾驶意图识别模型,根据驾驶意图识别模型对未来轨迹进行识别,得到驾驶意图,本发明能够根据历史车辆轨迹实时预测未来轨迹,能够较为准确的进行驾驶意图识别,提高驾驶意图识别的精准度,有效避免潜在的交通事故风险。
Driving intention recognition method based on trajectory prediction
一种基于轨迹预测的驾驶意图识别方法
2024-08-23
Patent
Electronic Resource
Chinese
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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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