Self-Discovered Intention-aware Transformer for Multi-modal Vehicle Trajectory Prediction
This work addresses trajectory prediction for autonomous driving and ITS applications, presenting an incremental improvement over existing methods.
The paper tackles vehicle trajectory prediction by proposing a pure Transformer-based network with separate tracks for trajectory and intention prediction, finding that this design increases performance by separating spatial and trajectory modules and learns ordered groups of trajectories through residual offsets.
Predicting vehicle trajectories plays an important role in autonomous driving and ITS applications. Although multiple deep learning algorithms are devised to predict vehicle trajectories, their reliant on specific graph structure (e.g., Graph Neural Network) or explicit intention labeling limit their flexibilities. In this study, we propose a pure Transformer-based network with multiple modals considering their neighboring vehicles. Two separate tracks are employed. One track focuses on predicting the trajectories while the other focuses on predicting the likelihood of each intention considering neighboring vehicles. Study finds that the two track design can increase the performance by separating spatial module from the trajectory generating module. Also, we find the the model can learn an ordered group of trajectories by predicting residual offsets among K trajectories.