The invention provides an automatic driving scene flow-oriented point cloud long-time prediction method in the technical field of automatic driving. Comprising the following steps: S1, converting 3D point cloud data into multiple views; s2, extracting multi-view point cloud features; s3, encoding the multi-view point cloud features by using a vector quantization variational auto-encoder; s4, establishing a point cloud diffusion model, and training the point cloud diffusion model based on the encoded multi-view point cloud features and the loss function; and S5, performing point cloud long-time prediction based on the trained point cloud diffusion model. Through the method provided by the invention, the purpose of point cloud long-time prediction can be realized on the basis of not losing point cloud space structure information, semantic information, boundary continuity and the like, the generalization ability is good, and the future long-time motion trail and change trend of the object in the automatic driving scene can be effectively predicted, so that the driving strategy is adjusted, the collision risk is reduced, and the driving experience is improved. And the safety and the reliability of the automatic driving system are improved.
本发明提供了自动驾驶技术领域中的一种面向自动驾驶场景流的点云长时预测方法。包括以下步骤:S1、将3D点云数据转换为多视图;S2、提取多视图点云特征;S3、应用矢量量化变分自编码器对多视图点云特征进行编码;S4、建立点云扩散模型,并基于已编码的多视图点云特征及损失函数对点云扩散模型进行训练;S5、基于训练好的点云扩散模型进行点云长时预测。通过本发明的方法,可以在不丢失点云空间结构信息、语义信息、边界连续性等的基础上,实现点云长时预测的目的并且泛化能力良好,有效预测自动驾驶场景中物体的未来长时运动轨迹和变化趋势,从而调整行驶策略,减少碰撞风险,提升自动驾驶系统的安全性和可靠性。
Point cloud long-time prediction method for automatic driving scene flow
一种面向自动驾驶场景流的点云长时预测方法
2025-04-11
Patent
Electronic Resource
Chinese
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08B SIGNALLING OR CALLING SYSTEMS , Signalisier- oder Rufsysteme / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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