融合动态风险图与多变量注意力机制的车辆轨迹预测模型

陈文强,冯琳越,王东丹,顾玉磊,赵轩

Vehicle trajectory prediction model integrating dynamic risk map and multivariate attention mechanism

Wenqiang CHEN,Linyue FENG,Dongdan WANG,Yulei GU,Xuan ZHAO

表 3 各模型在横、纵向意图预测上的RMSE对比

Tab.3 Comparison of RMSE across models for lateral and longitudinal intention prediction

数据集 tp/s Eh/m Ez/m STDAN STGAMT RGMA STDAN STGAMT RGMA HighD 1 0.07 0.03 0.02 0.12 0.07 0.05 HighD 2 0.12 0.11 0.10 0.15 0.14 0.12 HighD 3 0.24 0.23 0.19 0.24 0.22 0.20 HighD 4 0.40 0.36 0.30 0.51 0.48 0.37 HighD 5 0.52 0.47 0.41 1.14 1.04 0.70 NGSIM 1 0.13 0.08 0.06 0.40 0.20 0.15 NGSIM 2 0.23 0.20 0.16 0.98 0.75 0.58 NGSIM 3 0.31 0.29 0.25 1.66 1.46 1.14 NGSIM 4 0.38 0.37 0.34 2.54 2.37 1.84 NGSIM 5 0.45 0.40 0.40 3.67 3.54 2.68