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 5 环岛道路场景不同模型的预测性能对比

Tab.5 Comparison of prediction performance with different models in roundabout scenario

模型 RMSE te=1 s te=2 s te=3 s V-LSTM 0.89 2.15 6.42 CS-LSTM 0.83 1.86 3.59 S-GAN 0.78 1.84 3.83 MATF 0.85 2.03 3.85 STA 0.77 1.73 3.24 SIT 0.79 1.76 3.06 PIP 0.83 1.63 2.85 TSMHA 0.75 1.34 2.46