MFTraj: 地図不要・挙動駆動型の自動運転軌道予測
MFTraj: Map-Free, Behavior-Driven Trajectory Prediction for Autonomous Driving
高精細地図に頼らず、履歴軌道と動的幾何グラフによる挙動認識モジュールで交通参加者の複雑な相互作用を捉える軌道予測モデルを提案し、複数データセットで有効性を示した。
著者: Haicheng Liao, Zhenning Li, Chengyue Wang, Huanming Shen, Bonan Wang, Dongping Liao, Guofa Li, Chengzhong Xu
分類: cs.RO, cs.AI
原文アブストラクト
This paper introduces a trajectory prediction model tailored for autonomous driving, focusing on capturing complex interactions in dynamic traffic scenarios without reliance on high-definition maps. The model, termed MFTraj, harnesses historical trajectory data combined with a novel dynamic geometric graph-based behavior-aware module. At its core, an adaptive structure-aware interactive graph convolutional network captures both positional and behavioral features of road users, preserving spatial-temporal intricacies. Enhanced by a linear attention mechanism, the model achieves computational efficiency and reduced parameter overhead. Evaluations on the Argoverse, NGSIM, HighD, and MoCAD datasets underscore MFTraj's robustness and adaptability, outperforming numerous benchmarks even in data-challenged scenarios without the need for additional information such as HD maps or vectorized maps. Importantly, it maintains competitive performance even in scenarios with substantial missing data, on par with most existing state-of-the-art models. The results and methodology suggest a significant advancement in autonomous driving trajectory prediction, paving the way for safer and more efficient autonomous systems.
