Trajectory prediction system and method based on different vehicle types

Abstract

The invention discloses a trajectory prediction system based on different vehicle types. The trajectory prediction system comprises a vehicle type recognition module, a trajectory prediction module and a trajectory prediction module based on different vehicle types. The vehicle type recognition module takes the image information I, transmitted by the camera, of the target vehicle as input, and calculates the probability of outputting the vehicle type Ci through a convolutional neural network; the trajectory prediction module is used for obtaining the radar sensor information for the vehicle type Ci, and obtaining the trajectory information of the target vehicle in the historical time domain [-T, 0] as input, and the trajectory information comprises a longitudinal position x and a lateral position y; outputting a Gaussian distribution parameter-of the predicted trajectory of the future time domain [0, T] to obtain probability distribution of the predicted trajectory; and the track prediction module based on different vehicle types obtains probability distribution of track prediction based on different vehicle types according to the probability of the vehicle types and the probability distribution of the prediction tracks. According to the invention, the problem that the types of predicted vehicles cannot be distinguished in the trajectory prediction process in the prior art is solved.

Description

technical field [0001] The invention belongs to the technical field of intelligent driving, and specifically refers to a trajectory prediction system and method based on different types of vehicles. 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 the own vehicle, there is often a ...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a trajectory prediction system and method based on different types of vehicles to solve the problem in the prior art that the type of the predicted vehicle cannot be distinguished during the trajectory prediction process

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