The invention belongs to the technical field of automatic driving, and particularly relates to a vehicle automatic driving trajectory prediction model scheduling method, which comprises the following steps of: 1, data preprocessing: filling original historical trajectory data of a vehicle into grids according to a certain rule, and processing each grid into a graph; each graph represents the current state of the vehicle at the current time, and one node in the graph represents one vehicle; step 2, constructing a hierarchical LSTM (Long Short Term Memory) encoder; step 3, constructing an encoder-decoder model based on a space-time diagram; 4, an attention mechanism is introduced for prediction, the attention mechanism is introduced on the basis of the LSTM vehicle track prediction model based on the space-time diagram, the structure is reasonable, the precision is high in the use process, and the motion track of the vehicle can be accurately predicted; the adaptability is high, the method can adapt to the change of vehicle motion and the change of environment, and the prediction result can be quickly updated; the comprehensiveness is good, and various factors influencing the vehicle motion trail can be considered.

    本发明属于自动驾驶技术领域,具体为一种车辆自动驾驶的轨迹预测模型调度方法,包括步骤一:数据预处理,将车辆原始的历史轨迹数据先按照一定规则填充到网格中,再将每一张网格分别处理成一张图;每一张图代表在当前时间的车辆的当前状态,图中一个节点代表一辆车;步骤二:构建层级的LSTM编码器;步骤三:构建基于时空图的编码器‑解码器模型;步骤四:引入注意力机制进行预测,在基于时空图的LSTM的车辆轨迹预测模型的基础上,引入了注意力机制,其结构合理,在使用的过程中,精度高能够准确地预测车辆的运动轨迹;自适应性强,能够自适应车辆运动的变化和环境的变化,并能够快速更新预测结果;全面性好,够考虑多种影响车辆运动轨迹的因素。


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    Title :

    Trajectory prediction model scheduling method for automatic driving of vehicle


    Additional title:

    一种车辆自动驾驶的轨迹预测模型调度方法


    Contributors:
    WU KANGTING (author) / YAN HEPING (author)

    Publication date :

    2025-03-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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