The invention discloses a self-adaptive iteration trajectory prediction method and system based on an attention mechanism, and the method comprises the steps: obtaining the historical trajectories of a plurality of road participants through a sensor module in the process that a vehicle runs on a road, and carrying out the coding of the historical trajectories, and obtaining an intelligent agent network; obtaining and coding a high-definition map to obtain a lane map network; the intelligent agent network and the lane map network are aggregated to obtain a symmetric scene network, the relative position between the vehicle and any road participant is calculated, coding is carried out through a multi-layer perceptron to obtain the relative position, and the relative position is embedded and aggregated into the symmetric scene network; and carrying out data decoding through a decoder based on scene self-adaption to obtain a motion track of the road participant at a future moment. According to the method, the problem that redundant calculation exists during online prediction due to the fact that input needs to be subjected to re-normalization and re-coding when an observation window slides forwards in a modeling scheme taking an intelligent agent as a center in the prior art is solved.

    本发明公开了一种基于注意力机制的自适应迭代轨迹预测方法及系统,该方法包括:当车辆在道路上行驶的过程中,通过传感器模块获取若干道路参与者的历史轨迹并进行历史轨迹编码,得到智能体网络;以及获取高清地图并进行编码,得到车道图网络;将智能体网络与车道图网络进行聚合,得到对称场景网络,并计算车辆与任意道路参与者之间的相对位置,通过多层感知机进行编码得到相对位置嵌入,聚合至对称场景网络中;通过基于场景自适应的解码器进行数据解码,得到道路参与者在未来时刻的运动轨迹。本发明解决了现有技术中以智能体为中心的建模方案在观察窗口向前滑动时需要对输入进行重新归一化和重新编码,导致在线预测期间存在冗余计算的问题。


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    Title :

    Adaptive iteration trajectory prediction method and system based on attention mechanism


    Additional title:

    基于注意力机制的自适应迭代轨迹预测方法及系统


    Contributors:
    MA SHUFANG (author) / LIN XIAOGANG (author) / FANG MINGYAO (author) / WANG XIAOLIANG (author) / XU WEI (author) / SONG WEN (author) / HE XIAOMING (author) / PENG HONGRUI (author) / MIN PENG (author)

    Publication date :

    2025-04-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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