Multi-Step Training for Predicting Roundabout Traffic Situations

Sackmann M, Leemann T, Bey H, Hofmann U, Thielecke J (2021)

Publication Language: English

Publication Type: Conference contribution, Conference Contribution

Publication year: 2021

Publisher: Institute of Electrical and Electronics Engineers Inc.

Book Volume: 2021-September

Pages Range: 1982--1989

Conference Proceedings Title: IEEE International Intelligent Transportation Systems Conference (ITSC)

Event location: Hybrid / Indianapolis US

ISBN: 9781728191423

URI: https://ieeexplore.ieee.org/abstract/document/9564547

DOI: 10.1109/ITSC48978.2021.9564547

Abstract

Predicting the future trajectories of surrounding vehicles is an important challenge in automated driving, especially in highly interactive environments such as roundabouts. Many works approach the task with behavioral cloning: A single-step prediction model is established by learning the mapping of states to the corresponding actions from a fixed dataset. To achieve a long term trajectory prediction, the single-step model is repeatedly executed. However, models learned with the behavioral cloning approach are unable to compensate for the accumulating errors that inevitably arise after repeated execution. Instead, we propose the application of multi-step learning, which directly minimizes the long term prediction error by recursively executing the model during training. This leads to a more robust and precise prediction model. The idea is showcased on a real-world dataset of more than 1000 trajectories at two roundabouts.

Authors with CRIS profile

Moritz Sackmann Professur für Informationstechnik (Schwerpunkt Ortsbestimmung und Navigation) Henrik Bey Professur für Informationstechnik (Schwerpunkt Ortsbestimmung und Navigation) Jörn Thielecke Professur für Informationstechnik (Schwerpunkt Ortsbestimmung und Navigation)

Involved external institutions

Audi AG DE Germany (DE) Eberhard Karls Universität Tübingen DE Germany (DE)

How to cite

APA:

Sackmann, M., Leemann, T., Bey, H., Hofmann, U., & Thielecke, J. (2021). Multi-Step Training for Predicting Roundabout Traffic Situations. In IEEE International Intelligent Transportation Systems Conference (ITSC) (pp. 1982--1989). Hybrid / Indianapolis, US: Institute of Electrical and Electronics Engineers Inc..

MLA:

Sackmann, Moritz, et al. "Multi-Step Training for Predicting Roundabout Traffic Situations." Proceedings of the IEEE International Intelligent Transportation Systems Conference (ITSC), Hybrid / Indianapolis Institute of Electrical and Electronics Engineers Inc., 2021. 1982--1989.

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