考虑周车信息的自车期望轨迹预测

Expected trajectory prediction of vehicle considering surrounding vehicle information

针对驾驶员期望轨迹预测问题,设计了一种考虑周车信息的自车期望轨迹预测模型。建立了单独的自车和周车历史轨迹信息编码器,将编码后的自车历史轨迹信息送往意图识别模块用于识别驾驶员意图;通过注意力机制对自车和周车编码信息进行处理,并与意图识别的结果共同作为解码器模块的输入,最终输出车辆未来位置。最后,采用数据集对模型进行训练,验证了模型的有效性。

Aiming at the problem of driver's expected trajectory prediction,a vehicle expected trajectory prediction model considering the information of surrounding vehicles was designed.Separate encoders of self vehicle and surrounding vehicles historical track information is established,and the encoded self vehicle historical track information is sent to the intention recognition module to identify the driver's intention.The self vehicle and surrounding vehicles coding information is processed through the attention mechanism,the result of intention recognition is used as the input of the decoder module,and the future position of the vehicle is output.Finally,the data set is used to train the model,and the effectiveness of the model is verified.