The invention relates to the technical field of vehicles, and discloses an automatic driving track prediction method and system based on a transformer architecture, electronic equipment, a storage medium and a vehicle, and the method comprises the steps: responding to multi-mode input information needed by automatic driving motion prediction, and carrying out the corresponding feature representation; in response to the multi-modal input information after feature representation, extracting deep features of the environment and encoding the deep features to obtain environment feature expression; in response to the encoded environment feature expression, track features are extracted based on a cross attention mechanism, and the track features comprise key information used for track prediction; in response to the trajectory features, a multi-modal trajectory is predicted, where the prediction includes a probability of the trajectory, a mean value of trajectory points, and a variance. According to the invention, complex and heterogeneous architecture design can be avoided, and expansion is facilitated; and meanwhile, by changing architecture parameters, the model capacity and the computing power consumption are controlled, and the balance between the model precision and the performance is solved.

    本发明涉及车辆技术领域,公开了一种基于transformer架构的自动驾驶轨迹预测方法、系统、电子设备、存储介质及车辆,包括响应于自动驾驶运动预测所需的多模态输入信息并进行相应的特征表征;响应于特征表征后的多模态输入信息,提取出环境的深层次特征并进行编码,得到环境特征表达;响应于编码后的所述环境特征表达,基于交叉注意力机制,提取轨迹特征,其中,所述轨迹特征包括用于轨迹预测的关键信息;响应于所述轨迹特征,预测多模态轨迹,其中,所述预测包括轨迹的概率、轨迹点的均值和方差。本发明能够避免复杂、异构的架构设计,便于拓展;同时通过改变架构参数,控制模型容量和算力消耗,在模型精度和性能之间求得平衡。


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    Title :

    Transform architecture-based automatic driving track prediction method and system


    Additional title:

    一种基于transformer架构的自动驾驶轨迹预测方法及系统


    Contributors:
    WAN DANPAN (author) / SHANG BINGXU (author) / LI LU (author)

    Publication date :

    2024-12-27


    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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