制御推論と状態空間ダイナミクスによるマルチエージェント軌道予測の高精度化
Enhanced Prediction of Multi-Agent Trajectories via Control Inference and State-Space Dynamics
状態空間モデルとグラフニューラルネットワークを組み合わせ、制御変数を「Mixed Mamba」で推定することで、自動運転における周辺車両や歩行者の軌道予測精度を向上させた研究。
著者: Yu Zhang, Yongxiang Zou, Haoyu Zhang, Zeyu Liu, Houcheng Li, Long Cheng
分類: cs.RO, cs.AI
原文アブストラクト
In the field of autonomous systems, accurately predicting the trajectories of nearby vehicles and pedestrians is crucial for ensuring both safety and operational efficiency. This paper introduces a novel methodology for trajectory forecasting based on state-space dynamic system modeling, which endows agents with models that have tangible physical implications. To enhance the precision of state estimations within the dynamic system, the paper also presents a novel modeling technique for control variables. This technique utilizes a newly introduced model, termed "Mixed Mamba," to derive initial control states, thereby improving the predictive accuracy of these variables. Moverover, the proposed approach ingeniously integrates graph neural networks with state-space models, effectively capturing the complexities of multi-agent interactions. This combination provides a robust and scalable framework for forecasting multi-agent trajectories across a range of scenarios. Comprehensive evaluations demonstrate that this model outperforms several established benchmarks across various metrics and datasets, highlighting its significant potential to advance trajectory forecasting in autonomous systems.
