Research on Vehicle Behavior Label Based on Bounding Box
Aiming at the accuracy of target behavior prediction and the inability to label line driving behavior of autonomous vehicles,the shape of the vehicle is described by establishing Bounding Box,and then the intersection relationship between the four vertices of the Bounding Box and the lane line is used to judge whether the target vehicle has lane changing behavior.For the case with no lane lines,firstly,the virtual lane line is extended to the left and right by the self-vehicle track,and then determines whether the target vehicle has the behavior of cutting into the self-lane by the relationship between the Bounding Box and the virtual lane line,and then marks.Bounding Box labeling target behaviors can improve the accuracy of labeling and lay a good foundation for subsequent behavior prediction model training.
lane change behaviorBounding Boxcut into self-vehicle trackvirtual lane
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