Sequence-to-Sequence Prediction of Vehicle Trajectory via LSTM Encoder-Decoder Architecture

In this paper, we propose a deep learning based vehicle trajectory prediction technique which can generate the future trajectory sequence of surrounding vehicles in real time. We employ the encoder-decoder architecture which analyzes the pattern underlying in the past trajectory using the long short...

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Vydáno v:2018 IEEE Intelligent Vehicles Symposium (IV) s. 1672 - 1678
Hlavní autoři: Park, Seong Hyeon, Kim, ByeongDo, Kang, Chang Mook, Chung, Chung Choo, Choi, Jun Won
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: IEEE 01.06.2018
Témata:
Computer architecture
Decoding
Machine learning
Microprocessors
Real-time systems
Task analysis
Trajectory
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Popis
Shrnutí:In this paper, we propose a deep learning based vehicle trajectory prediction technique which can generate the future trajectory sequence of surrounding vehicles in real time. We employ the encoder-decoder architecture which analyzes the pattern underlying in the past trajectory using the long short-term memory (LSTM) based encoder and generates the future trajectory sequence using the LSTM based decoder. This structure produces the K most likely trajectory candidates over occupancy grid map by employing the beam search technique which keeps the K locally best candidates from the decoder output. The experiments conducted on highway traffic scenarios show that the prediction accuracy of the proposed method is significantly higher than the conventional trajectory prediction techniques.
DOI:10.1109/IVS.2018.8500658