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Interaction-Aware T...
Interaction-Aware Trajectory Prediction for Autonomous Vehicle Based on LSTM-MLP Model
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- Meng, Zhiwei, 1996 (författare)
- Jilin University,Chalmers tekniska högskola,Chalmers University of Technology
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- Wu, Jiaming, 1989 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Zhang, Sumin (författare)
- Jilin University
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- He, Rui (författare)
- Jilin University
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- Ge, Bing (författare)
- Chinese Academy of Sciences
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(creator_code:org_t)
- 2023
- 2023
- Engelska.
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Ingår i: Smart Innovation, Systems and Technologies. - 2190-3026 .- 2190-3018. ; 356, s. 91-99
- Relaterad länk:
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https://doi.org/10.1...
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https://research.cha...
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Abstract
Ämnesord
Stäng
- Trajectory prediction is one of the core functions of the autonomous vehicle, it greatly affects the rationality and safety of the decision-making module and the planning module. This is challenging because the motion of the target vehicle is affected by the interactive behavior of its surrounding vehicles. In this paper, we propose the interaction-aware trajectory prediction model for autonomous vehicles based on LSTM-MLP model. The encoder module encoded the history trajectories to extract the dynamic feature of each vehicle in the scenarios by the LSTM model, and then the interaction module captures the interactive feature using the MLP-Max Pooling model. In the end, the decoder module decodes the fusion feature which consists of the dynamic feature of the target vehicle and the interactive feature to output the future trajectory based on the LSTM model. The experiments are carried out on the publicly available NGSIM dataset, and the results show that the proposed model outperforms prior works in terms of RMSE value.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Farkostteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Vehicle Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Trajectory prediction
- LSTM-MLP model
- Autonomous vehicle
- Interaction aware
Publikations- och innehållstyp
- kon (ämneskategori)
- ref (ämneskategori)
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