Behavior intention fused surrounding dynamic vehicle trajectory prediction system and method

Abstract

The invention discloses a behavior intention fused surrounding dynamic vehicle trajectory prediction system and method. The system comprises a trajectory prediction module and a behavior intention prediction module, the trajectory prediction module takes information of historical trajectories of a target vehicle needing trajectory prediction and vehicles around the target vehicle as input of a long-short-term memory regression neural network, and prediction trajectories of a future time domain are obtained through network prediction; the behavior intention prediction module is used for obtaining probability distribution of behavior intentions obtained based on prediction tracks of a target vehicle and surrounding vehicles by considering behavior interaction between different vehicles and utilizing an LSTM classification neural network; the results of the two modules are fused and input into a multi-modal LSTM trajectory prediction neural network to obtain the position information of the final prediction trajectory. According to the method, the motion information of the vehicle and the information of the surrounding traffic environment are fully utilized, the dynamic change and uncertainty of the traffic environment are considered, the accuracy of trajectory prediction is improved, and the system and method are suitable for more complex driving scenes.

Description

technical field [0001] The invention belongs to the technical field of intelligent driving, and specifically refers to a system and method for predicting surrounding dynamic vehicle trajectories that integrate behavioral intentions. Background technique [0002] With the increasing number of cars, road traffic tends to be denser and more complicated, which leads to an increase in driving pressure, which reduces the driving ability of drivers in normal traffic scenarios and greatly increases the probability of traffic accidents. In the decision-making process of intelligent driving, the correct prediction of the trajectory of surrounding vehicles is the basis for intelligent vehicles to make appropriate decisions. [0003] At present, intelligent vehicles can use advanced technology to predict the future state according to the motion state of the target vehicle, and plan the driving route of the own vehicle based on this information. However, according to the motion state of ...

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Problems solved by technology

[0005] Aiming at the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a surrounding dynamic vehicle trajectory prediction system and method that integrates behavioral intentions, so as to solve the problem in the prior art that the influence of the dynamic traffic environment on vehicle trajectory prediction is ignored

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