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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2020, Vol. 54 Issue (6): 1156-1163    DOI: 10.3785/j.issn.1008-973X.2020.06.012
Computer Technology     
Vehicle motion trajectory prediction based on attention mechanism
Chuang LIU(),Jun LIANG*()
College of Control Science and Engineering, Zhejiang University, Hangzhou 310058, China
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Abstract  

A new vehicle motion trajectory prediction algorithm was proposed by using the attention mechanism based on the classic convolutional social long-short term memory (LSTM) trajectory prediction algorithm. Firstly, the lateral attention mechanism was introduced to assign different weights to neighboring vehicles. The features obtained from the historical trajectory of the vehicle via LSTM were taken as global features, and the trajectory features were extracted as local features through convolution pooling. The two features were fused as the overall neighbor feature information for trajectory prediction. Secondly, the Encoder-Decoder framework of traditional trajectory prediction was improved, and a vertical attention mechanism on historical position was introduced, so that each moment of prediction could use the historical information, which was most relevant to the current moment. The improved model was verified on the US101 and I80 datasets provided by NGSIM, and the results show that the proposed trajectory prediction algorithm can obtain more accurate future trajectories than other algorithms.

Key words： self-driving      trajectory prediction      attention mechanism      long-short term memory (LSTM)     
Received: 22 January 2019      Published: 06 July 2020
CLC:  TP 183  
Corresponding Authors: Jun LIANG     E-mail: 21632012@zju.edu.cn;jliang@zju.edu.cn
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Chuang LIU
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Cite this article:

Chuang LIU,Jun LIANG. Vehicle motion trajectory prediction based on attention mechanism. Journal of ZheJiang University (Engineering Science), 2020, 54(6): 1156-1163.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2020.06.012     OR     http://www.zjujournals.com/eng/Y2020/V54/I6/1156


基于注意力机制的车辆运动轨迹预测

基于经典的Convolutional Social LSTM轨迹预测算法，提出一种全新的采用注意力机制的车辆运动轨迹预测算法. 引入横向注意力机制对邻居车辆赋予不同的权重，将车辆历史轨迹经由LSTM得到的特征作为全局特征，通过卷积池化提取轨迹特征作为局部特征，将两者融合作为整体邻居特征信息，用于轨迹预测. 对用于传统轨迹预测的Encoder-Decoder框架进行改进，引入关于历史位置的纵向注意力机制，使得预测的每一时刻都能使用与当前时刻最相关的历史信息. 在NGSIM提供的US101和I80数据集进行验证，结果表明：提出的轨迹预测算法相比其他算法能更精确地预测车辆未来轨迹.


关键词： 自动驾驶,  轨迹预测,  注意力机制,  长短期记忆（LSTM） 
Fig.1 Schematic diagram of Social Pooling process
Fig.2 Network framework of Social LSTM
Fig.3 network framework of Convolutional Social LSTM
Fig.4 Trajectory prediction model based on attention mechanism
预测算法 1 s 2 s 3 s 4 s 5 s $\delta $
KF 1.936 3.860 5.779 7.704 9.648 5.013
LSTM 0.698 1.691 2.981 4.567 6.465 2.741
Fc_pool 0.673 1.518 2.584 3.910 5.524 2.382
Conv_pool 0.661 1.472 2.509 3.821 5.406 2.324
Nbrs_conv 0.635 1.448 2.470 3.751 5.306 2.280
Hist_Nbrs_conv 0.629 1.432 2.454 3.730 5.265 2.263
Tab.1 Comparison of mean square errors of trajectory prediction of each model m
Fig.5 Model trajectory deviation comparison of each model
Fig.6 Comparison of model trajectory prediction results on real data sets
Fig.7 Distribution map of vehicle attention weight
Fig.8 Weight distribution of historical trajectories at different times
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