基于时空Transformer特征融合的车辆轨迹预测

赵文红; 王巍; 万子璐

doi:10.11959/j.issn.1000-436x.2024192

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基于时空Transformer特征融合的车辆轨迹预测

学术通信 | 更新时间：2024-12-24

- 基于时空Transformer特征融合的车辆轨迹预测
- Vehicle trajectory prediction based on spatio-temporal Transformer feature fusion
- 通信学报 2024年45卷第11期页码：267-276
- 作者机构：
  
  1.嘉兴南湖学院公共基础教学部，浙江嘉兴 314001
  2.电磁空间安全全国重点实验室，浙江嘉兴 314033
  3.浙江工业大学信息工程学院，浙江杭州 310013
- 作者简介：
  
  [ "赵文红（1981- ），女，河北衡水人，嘉兴南湖学院讲师，主要研究方向为优化计算。" ]
  [ "王巍（1980- ），男，博士，河北张家口人，电磁空间安全全国重点实验室研究员，主要研究方向为智能处理、网络优化。" ]
  [ "万子璐（2001- ），女，浙江乐清人，浙江工业大学硕士生，主要研究方向为智能驾驶、车辆控制。" ]
- 基金信息：
  
  国家自然科学基金资助项目(62231027;U19B2015;U21B2001);嘉兴南湖学院科研基金资助项目(62211ZL)
- DOI：10.11959/j.issn.1000-436x.2024192
  中图分类号： TP183
- 收稿日期：2024-06-28，
  
  修回日期：2024-10-17，
  
  纸质出版日期：2024-11-25
- 稿件说明：
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赵文红,王巍,万子璐.基于时空Transformer特征融合的车辆轨迹预测[J].通信学报,2024,45(11):267-276.

ZHAO Wenhong,WANG Wei,WAN Zilu.Vehicle trajectory prediction based on spatio-temporal Transformer feature fusion[J].Journal on Communications,2024,45(11):267-276.
赵文红,王巍,万子璐.基于时空Transformer特征融合的车辆轨迹预测[J].通信学报,2024,45(11):267-276. DOI： 10.11959/j.issn.1000-436x.2024192.

ZHAO Wenhong,WANG Wei,WAN Zilu.Vehicle trajectory prediction based on spatio-temporal Transformer feature fusion[J].Journal on Communications,2024,45(11):267-276. DOI： 10.11959/j.issn.1000-436x.2024192.

摘要

在复杂的交通环境下，自动驾驶汽车需要充分地分析周围交通物体的运动方向、运动速度等信息，并准确预测未来的轨迹。针对这个问题，提出了一种基于时空Transformer的网络模型。该模型首先利用空间自注意力机制，通过捕捉同一时刻下车辆间的空间相互作用，实现对多车空间关系交互性的精确建模；随后通过时间自注意力机制提取连续帧的时间依赖关系，以此生成一组能够反映车辆动态行为的时空特征；最后这些特征被送入解码器，以预测所有车辆在未来5 s内的运动轨迹。在公开的NGSIM数据集上进行了训练和验证，与其他的先进方案相比，该模型在未来5 s的轨迹预测中具有更高的准确性和精度，长期预测准确率比先进方案提高14.6%。

Abstract

In complex traffic environments

autonomous vehicles must thoroughly analyze the motion direction

speed

and other information of surrounding traffic objects to accurately predict future trajectories. A network model based on spatio-temporal Transformer was proposed to address this issue. The framework initially employs a spatial self-attention mechanism to capture the spatial interactions between vehicles at the same moment

achieving precise modeling of the spatial relationship interactivity among multiple vehicles. Subsequently

a temporal self-attention mechanism was utilized to extract the temporal dependencies between consecutive frames

thereby generating a set of spatiotemporal features that reflect the dynamic behavior of vehicles. These features were then fed into a decoder to predict the motion trajectories of vehicles over the next 5 s. The proposed model was trained and validated on the publicly available NGSIM dataset. Compared to other state-of-the-art schemes

our scheme demonstrates greater accuracy and precision in trajectory prediction over the subsequent 5 s. The long-term forecasting accuracy is increased by 14.6% compared to the advanced schemes.

关键词

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references

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