The invention provides a training method of an automatic driving track prediction model and a vehicle track prediction method, and relates to the technical field of automatic driving. The method comprises the steps of obtaining a trajectory prediction sample; performing trajectory prediction on the adjacent vehicle by adopting a teacher model according to the historical trajectory data of the target vehicle and the adjacent vehicle to obtain first prediction trajectory data of the adjacent vehicle; performing trajectory prediction on the adjacent vehicle by adopting a student model according to the historical trajectory data of the target vehicle and the adjacent vehicle to obtain second prediction trajectory data of the adjacent vehicle; performing parameter adjustment on the teacher model according to the first prediction trajectory data and the future trajectory data; and according to the second prediction trajectory data, the future trajectory data and knowledge distillation loss parameters of the teacher model, parameter adjustment is performed on the initial student model, and a target trajectory prediction model including the target student model is obtained. By adopting the target student model trained by the method, an accurate trajectory prediction result can be obtained when the data is incomplete.
本申请提供一种自动驾驶轨迹预测模型的训练方法及车辆轨迹预测方法,涉及自动驾驶技术领域。该方法包括获取轨迹预测样本;采用教师模型,根据目标车辆和临近车辆的历史轨迹数据,对临近车辆进行轨迹预测,得到临近车辆的第一预测轨迹数据;采用学生模型,根据目标车辆和临近车辆的历史轨迹数据,对临近车辆进行轨迹预测,得到临近车辆的第二预测轨迹数据;根据第一预测轨迹数据和未来轨迹数据,对教师模型进行调参;根据第二预测轨迹数据和未来轨迹数据,以及教师模型的知识蒸馏损失参数,对初始学生模型进行调参,得到包括目标学生模型的目标轨迹预测模型。采用本申请的方法训练出的目标学生模型,能够在数据不完整时得到准确的轨迹预测结果。
Training method of automatic driving track prediction model and vehicle track prediction method
自动驾驶轨迹预测模型的训练方法及车辆轨迹预测方法
2025-05-30
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 |
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