SCENE: Reasoning about Traffic Scenes using Heterogeneous Graph Neural NetworksThomas Monninger, Julian Schmidt, Jan Rupprecht et al.
Understanding traffic scenes requires considering heterogeneous information about dynamic agents and the static infrastructure. In this work we propose SCENE, a methodology to encode diverse traffic scenes in heterogeneous graphs and to reason about these graphs using a heterogeneous Graph Neural Network encoder and task-specific decoders. The heterogeneous graphs, whose structures are defined by an ontology, consist of different nodes with type-specific node features and different relations with type-specific edge features. In order to exploit all the information given by these graphs, we propose to use cascaded layers of graph convolution. The result is an encoding of the scene. Task-specific decoders can be applied to predict desired attributes of the scene. Extensive evaluation on two diverse binary node classification tasks show the main strength of this methodology: despite being generic, it even manages to outperform task-specific baselines. The further application of our methodology to the task of node classification in various knowledge graphs shows its transferability to other domains.
5.7RONov 4, 2024
Traffic and Safety Rule Compliance of Humans in Diverse Driving SituationsMichael Kurenkov, Sajad Marvi, Julian Schmidt et al.
The increasing interest in autonomous driving systems has highlighted the need for an in-depth analysis of human driving behavior in diverse scenarios. Analyzing human data is crucial for developing autonomous systems that replicate safe driving practices and ensure seamless integration into human-dominated environments. This paper presents a comparative evaluation of human compliance with traffic and safety rules across multiple trajectory prediction datasets, including Argoverse 2, nuPlan, Lyft, and DeepUrban. By defining and leveraging existing safety and behavior-related metrics, such as time to collision, adherence to speed limits, and interactions with other traffic participants, we aim to provide a comprehensive understanding of each datasets strengths and limitations. Our analysis focuses on the distribution of data samples, identifying noise, outliers, and undesirable behaviors exhibited by human drivers in both the training and validation sets. The results underscore the need for applying robust filtering techniques to certain datasets due to high levels of noise and the presence of such undesirable behaviors.