Method and device for predicting vehicle motion state
A motion state and vehicle technology, which is applied in the direction of registration/indicating vehicle operation, control devices, neural learning methods, etc., can solve the problem of inaccurate prediction of the motion state of unmanned vehicles, and achieve the effect of increasing accuracy and improving accuracy
Active Publication Date: 2020-08-07
BEIJING SANKUAI ONLINE TECH CO LTD
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[0004] At present, the impact of control delay execution has not been considered in the prediction process of the motion state in the prior art, resulting in inaccurate prediction of the motion state of the unmanned vehicle
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[0058] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this application will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.
[0059] The technical solutions provided by various embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.
[0060] figure 1 The schematic diagram of the vehicle motion state prediction process provided by the embodiment of this specification includes:
[0061] S100: Obtain the current moment and ...
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This specification discloses a vehicle motion state prediction method and device, which obtains the motion state and control amount of the unmanned vehicle at a number of specified times including the current time to determine the feature vector, and input the feature vector into the first prediction model The time series layer determines the attention weighted vector, which is used to characterize the degree of influence of the control amount at each specified moment on the motion state at the next moment, and then according to the attention weighted vector, the obtained control at each specified moment Weighting is carried out on the quantity, and finally the attention weighted result and the current motion state are input into the second time series layer to predict the motion state of the unmanned vehicle at the next moment. The weighted result after weighting the control amount at a certain specified time makes the prediction of the motion state take into account the influence of the control amount of the historical time on the current motion state, which increases the accuracy of the motion state prediction and improves the control accuracy of the unmanned vehicle. .
Description
technical field [0001] The present application relates to the technical field of unmanned driving, and in particular to a method and device for predicting a vehicle motion state. Background technique [0002] At present, in the field of unmanned driving technology, it is necessary to predict the future motion state of the unmanned vehicle based on the motion state of the unmanned vehicle and the control amount of the unmanned vehicle, so as to determine how to control the unmanned vehicle according to the predicted motion state. Among them, the control amount includes various control types for controlling the motion of the unmanned vehicle, and the control range of each control type. For example, the control type may include, such as steering wheel angle, accelerator opening, brake opening, etc. The control range can be 10 degrees to the left, 90% opening, and 30% opening. [0003] However, due to the impact of vehicle hardware or software structure, after sending control c...
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IPC IPC(8): B60W50/00G06N3/04G06N3/08G07C5/08
CPCB60W50/0097G06N3/08G07C5/0808B60W2050/0043G06N3/044G06N3/045
Inventor 田润任冬淳夏华夏樊明宇
Owner BEIJING SANKUAI ONLINE TECH CO LTD