マルチ予測器融合：学習ベースとルールベースの軌道予測器の組み合わせ
Multi-Predictor Fusion: Combining Learning-based and Rule-based Trajectory Predictors
学習ベースの軌道予測器とルールベースの予測器を確率的に融合し、自律走行車の軌道予測性能を向上させる手法を提案した。
著者: Sushant Veer, Apoorva Sharma, Marco Pavone
分類: cs.RO, cs.LG, cs.SY, eess.SY
原文アブストラクト
Trajectory prediction modules are key enablers for safe and efficient planning of autonomous vehicles (AVs), particularly in highly interactive traffic scenarios. Recently, learning-based trajectory predictors have experienced considerable success in providing state-of-the-art performance due to their ability to learn multimodal behaviors of other agents from data. In this paper, we present an algorithm called multi-predictor fusion (MPF) that augments the performance of learning-based predictors by imbuing them with motion planners that are tasked with satisfying logic-based rules. MPF probabilistically combines learning- and rule-based predictors by mixing trajectories from both standalone predictors in accordance with a belief distribution that reflects the online performance of each predictor. In our results, we show that MPF outperforms the two standalone predictors on various metrics and delivers the most consistent performance.
