基于注意力机制的车辆运动轨迹预测

刘创,梁军

Vehicle motion trajectory prediction based on attention mechanism

Chuang LIU,Jun LIANG

表 1 各模型轨迹预测均方误差对比

Tab.1 Comparison of mean square errors of trajectory prediction of each model m

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