Attention Based Vehicle Trajectory Prediction

Self-driving vehicles need to continuously analyse the driving scene, understand the behavior of other road users and predict their future trajectories in order to plan a safe motion and reduce their reaction time. Motivated by this idea, this paper addresses the problem of vehicle trajectory prediction over an extended horizon. On highways, human drivers continuously adapt their speed and paths according to the behavior of their neighboring vehicles. Therefore, vehicles' trajectories are very correlated and considering vehicle interactions makes motion prediction possible even before the start of a clear maneuver pattern. To this end, the authors introduce and analyze trajectory prediction methods based on how they model the vehicles interactions. Inspired by human reasoning, the authors use an attention mechanism that explicitly highlights the importance of neighboring vehicles with respect to their future states. The authors go beyond pairwise vehicle interactions and model higher order interactions. Moreover, the existence of different goals and driving behaviors induces multiple potential futures. The authors exploit a combination of global and partial attention paid to surrounding vehicles to generate different possible trajectory. Experiments on highway datasets show that the proposed model outperforms the state-of-the-art performances.

• Record URL:
  http://dx.doi.org/10.1109/TIV.2020.2991952
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/23798858
• Supplemental Notes:
  • Copyright © 2021, IEEE.
• Authors:
  • Messaoud, Kaouther
  • Yahiaoui, Itheri
  • Verroust-Blondet, Anne
  • Nashashibi, Fawzi
• Publication Date: 2021-3

Language

• English

Media Info

• Media Type: Web
• Features: Figures; References;
• Pagination: pp 175-185
• Serial:
  • IEEE Transactions on Intelligent Vehicles
  • Volume: 6
  • Issue Number: 1
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 2379-8858
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7274857

Subject/Index Terms

• TRT Terms: Attention; Autonomous vehicles; Behavior; Drivers; Human beings; Mathematical prediction; Traffic safety; Trajectory
• Subject Areas: Highways; Safety and Human Factors; Vehicles and Equipment;

Filing Info

• Accession Number: 01773500
• Record Type: Publication
• Files: TRIS
• Created Date: May 31 2021 8:14PM