基于时空融合的多头注意力车辆轨迹预测

宋秀兰,董兆航,单杭冠,陆炜杰

Vehicle trajectory prediction based on temporal-spatial multi-head attention mechanism

Xiu-lan SONG,Zhao-hang DONG,Hang-guan SHAN,Wei-jie LU

表 1 不同长度L对模型预测性能的影响

Tab.1 Effect of different length L on prediction performance

L /m RMSE te=1 s te=2 s te=3 s te=4 s te=5 s 50 0.66 1.30 1.95 3.01 4.14 55 0.63 1.27 1.92 2.94 4.05 60 0.56 1.19 1.87 2.84 3.93 65 0.61 1.23 1.92 2.88 4.01 70 0.64 1.26 1.91 2.97 4.07