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 4 城市道路场景下不同模型的预测性能对比

Tab.4 Comparison of prediction performance of different models in urban scenario

模型 RMSE te=1 s te=2 s te=3 s te=4 s te=5 s V-LSTM 0.81 1.93 4.48 6.20 8.13 CS-LSTM 0.78 1.61 2.67 3.44 4.56 S-GAN 0.75 1.56 3.03 3.58 4.92 MATF 0.82 1.51 2.88 3.15 4.58 STA 0.68 1.53 2.71 3.24 4.66 SIT 0.73 1.45 2.42 3.16 4.35 PIP 0.74 1.32 2.41 3.03 4.27 TSMHA 0.67 1.24 2.29 2.87 4.13