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多任务轨迹预测使用车道解的有条件变量自编码器
Haoyang Chen1, Na Li1, Hangguan Shan1
1The College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, China.
Sensors (Basel, Switzerland)
|July 30, 2025
概括
本研究介绍了MS-SLV,这是一个用于自动驾驶轨迹预测的新生成框架. 它通过整合时间意识的场景编码和结构化的潜伏模型来增强多式预测,以获得更准确和更具上下文连贯性的预测.
科学领域:
- 计算机视觉 计算机视觉
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
背景情况:
- 自动驾驶需要精确的轨迹预测,整合车辆动态和高清地图.
- 目前的方法与动态的代理-场景交互作斗争,并由于静态编码和非结构化的潜空间产生多样化,连贯的预测.
研究的目的:
- 开发MS-SLV,一个新的生成框架,解决当前轨迹预测方法的局限性.
- 改进对不断变化的空间环境的建模,并为自动驾驶汽车制作多样化,背景一致的预测.
主要方法:
- 引入了一个时刻感知场景编码器,将高清地图特征与车辆运动对齐.
- 开发了一个结构化的潜伏模型来解开代理意图和场景约束.
- 整合了一个辅助车道预测任务,以增强场景理解和潜在变量学习.
主要成果:
- 通过MS-SLV实现了预测错误的显著降低:12.37%的平均位移错误 (ADE) 和7.67%的最终位移错误 (FDE).
- 在多式联运预测方面取得了实质性的改进:失踪率@5 (MR5) 减少了26%,失踪率@10 (MR10) 减少了33%.
- 与最强的基线相比,降低了3%的越野车速率 (ORR).
结论:
- 该MS-SLV框架有效地模拟复杂的代理-场景相互作用,以改进轨迹预测.
- 共同预测轨迹和车道序列可以提高可解释性和场景一致性.
- 提出的方法显著提升了自动驾驶多式联运轨迹预测的最新技术.
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