Interaction-Aware Trajectory Prediction and Planning for Autonomous Vehicles in Forced Merge Scenarios,Kaiwen Liu, Nan Li, H. Eric Tseng, Ilya Kolmanovsky, and Anouck Girard。 老问新看,一鱼两吃。…
arXiv 2011.11472论文“Spatial-ChannelTransformerNetwork for Trajectory Prediction on the Traffic Scenes“,作者来自东南大学。 提出的Spatial-Channel Transformer Network,意图抓取智体的时空特征和交互行为。想法来自于Squeeze and Excitation (SE) Networks,如图所示: 在这个编码器-解码器结构中包括了Attention module, ...
Trajectory planningPrediction guidanceFor the lunar return mission, a concern of the entry guidance requirement is the full flight envelope applicability and landing accuracy control. A concise numeric predictor-corrector (NPC) entry guidance (NPCEG) algorithm is developed for this requirement. It plans...
6. **GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Driving 基于博弈理论的建模与学习，为自动驾驶中的交互预测与规划提供了一种基于Transformer的方法。7. **ADAPT: Efficient Multi-Agent Trajectory Prediction with Adaptation ...
Merging is, in general, a challenging task for both human drivers and autonomous vehicles, especially in dense traffic, because the merging vehicle typically needs to interact with other vehicles to identify or create a gap and safely merge into. In this paper, we consider the problem of autono...
Human trajectory prediction is an important topic in several application domains, ranging from self-driving cars to environment design and planning, from socially-aware robots to intelligent tracking systems. This complex subject comes with different challenges, such as human-space interaction, human-huma...
Trajectory Prediction Accuracy Reference指的是groundtruth,中间的TT预测的结果,最后一行是SOTA planning算法预测的结果,可以看出TT对于这种长时空的预测效果还是很好的,作者后面也分析了,这得益于transformer architecture powerful capacity。 此为量化比较,从log似然(左边curves)可以观察到Transformer和Markovian Transformer(将...
This curve model not only has the advantages of smooth curve and continuous curvature, but also is easy to calculate and easy to extend, so it is widely used in the trajectory planning system of autonomous vehicles. Su et al. proposed a method for continuous vehicle trajectory prediction based...
trajectory prediction process. In this paper, we describe a novel stochastic trajectory prediction approach for ATM that can be used for more efficient and realistic flight planning and to assist airspace flow management, potentially resulting in higher safety, capacity, and efficiency commensurate with...
It is critical to predict the motion of surrounding vehicles for self-driving planning, especially in a socially compliant and flexible way. However, future prediction is challenging due to the interaction and uncertainty in driving behaviors. We propose planning-informed trajectory prediction (PiP) to...