The invention discloses a scene-level trajectory prediction method,
system, medium and equipment based on a conditional
diffusion model in the technical field of intelligent driving, and the method comprises the steps: obtaining a multi-agent trajectory feature collected at a current moment and a navigation constraint condition of agent motion extracted based on a vehicle position and urban high-precision map data, and inputting the trained conditional
diffusion model, and outputting a future multi-
modal trajectory prediction result. According to the method, multi-source heterogeneous data is deeply fused, so that the generalization ability of the model in a complex
traffic scene is improved, particularly, high prediction reliability can be kept in a rare scene which is not covered by training data, and the
bottleneck that a traditional method is difficult to cope with diversified scenes is solved; according to the method, the conditional
diffusion model is adopted, the multi-
modal trajectory distribution is learned through the iterative denoising process, the semantic probability and the direction matching probability are combined, the prediction trajectory is effectively restrained to conform to the road topology and traffic rules, and the error accumulation effect of long-term prediction is reduced.