シナリオ横断可能な意味グラフ推論によるインタラクション考慮型確率予測

原文アブストラクト

Accurately predicting the possible behaviors of traffic participants is an essential capability for autonomous vehicles. Since autonomous vehicles need to navigate in dynamically changing environments, they are expected to make accurate predictions regardless of where they are and what driving circumstances they encountered. Several methodologies have been proposed to solve prediction problems under different traffic situations. These works usually combine agent trajectories with either color-coded or vectorized high definition (HD) map as input representations and encode this information for behavior prediction tasks. However, not all the information is relevant in the scene for the forecasting and such irrelevant information may be even distracting to the forecasting in certain situations. Therefore, in this paper, we propose a novel generic representation for various driving environments by taking the advantage of semantics and domain knowledge. Using semantics enables situations to be modeled in a uniform way and applying domain knowledge filters out unrelated elements to target vehicle's future behaviors. We then propose a general semantic behavior prediction framework to effectively utilize these representations by formulating them into spatial-temporal semantic graphs and reasoning internal relations among these graphs. We theoretically and empirically validate the proposed framework under highly interactive and complex scenarios, demonstrating that our method not only achieves state-of-the-art performance, but also processes desirable zero-shot transferability.