US 12,333,784 B2
Trajectory prediction method and device
Hao He, Beijing (CN); and Naiyan Wang, Beijing (CN)
Assigned to BEIJING TUSEN WEILAI TECHNOLOGY CO., LTD., Beijing (CN)
Filed by Beijing Tusen Weilai Technology Co., Ltd., Beijing (CN)
Filed on Jul. 7, 2021, as Appl. No. 17/369,787.
Claims priority of application No. 202010658245.9 (CN), filed on Jul. 9, 2020.
Prior Publication US 2022/0011122 A1, Jan. 13, 2022
Int. Cl. G06V 10/764 (2022.01); G01C 21/34 (2006.01); G06N 3/044 (2023.01); G06N 3/0455 (2023.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01)
CPC G06V 10/764 (2022.01) [G01C 21/3407 (2013.01); G01C 21/3453 (2013.01); G06N 3/044 (2023.01); G06N 3/0455 (2023.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01)] 18 Claims
OG exemplary drawing
 
1. A trajectory prediction method, comprising:
acquiring current trajectory data and current map data, wherein the current trajectory data comprises a plurality of trajectory points of a moving subject performing movement in current environment and one or more other moving objects in the current environment in a past predetermined time period, each of the plurality of trajectory points comprises a spatial position at a corresponding time point, and the current map data comprises spatial positions of a plurality of map points of a road element in the current environment in the predetermined time period;
expressing the current trajectory data and the current map data as a current trajectory point set and a current map point set in a high-dimensional space;
extracting a global scene feature according to the current trajectory point set and the current map point set;
predicting a plurality of prediction trajectory point sets of the moving subject and a probability corresponding to each of the plurality of prediction trajectory point sets according to the global scene feature; and
controlling a vehicle to travel along a path planned according to the plurality of prediction trajectory point sets and the probability corresponding to each of the plurality of prediction trajectory point sets.