Trajectory prediction for intelligent vehicles using spatial-attention mechanism
Yan J, Peng Z, Yin H, Wang J, Wang X, Shen Y, Stechele W, Cremers D (2020)
Publication Type: Journal article
Publication year: 2020
Journal
Book Volume: 14
Pages Range: 1855-1863
Journal Issue: 13
DOI: 10.1049/iet-its.2020.0274
Abstract
It is of great interest for autonomous vehicles to predict the trajectory of other vehicles when planning a safe trajectory. To accurately predict the trajectory of the target vehicle, the interaction between vehicles must be considered. Interaction aware prediction methods track the previous trajectories of both the target vehicle and its surrounding vehicles. In this study, the authors consider trajectory prediction as a sequence-to-sequence prediction problem. They tackle this problem with an LSTM encoder–decoder framework. Moreover, they propose two spatial-attention mechanisms to account for the interaction between vehicles, i.e. context attention and lane attention. Spatial-attention mechanisms adopt the selectiveattention mechanism of human drivers. They choose context vectors to help the model understand the surrounding environment better and thus improve its prediction accuracy. They evaluate the authors’ methods on the highD data set recorded in German highways with root mean squared error metric. Their experimental results show superior performance to other state-of-the-art methods. Code is available at https://github.com/momo1986/Spatial-attention.
Involved external institutions
China (CN)
Germany (DE)How to cite
APA:
Yan, J., Peng, Z., Yin, H., Wang, J., Wang, X., Shen, Y.,... Cremers, D. (2020). Trajectory prediction for intelligent vehicles using spatial-attention mechanism. IET Intelligent Transport Systems, 14(13), 1855-1863. https://doi.org/10.1049/iet-its.2020.0274
MLA:
Yan, Jun, et al. "Trajectory prediction for intelligent vehicles using spatial-attention mechanism." IET Intelligent Transport Systems 14.13 (2020): 1855-1863.
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