融合时序解耦与动态细化的车辆轨迹预测

Vehicle Trajectory Prediction Integrating Temporal Decoupling and Dynamic Refinement

  • 摘要: 针对长时域多模态车辆轨迹预测中存在的模态坍塌与误差累积问题,提出一种融合时序解耦与动态细化的轨迹预测框架. 首先,构建轨迹提议网络,引入时序解耦策略将预测时域划分为连续子段,进而通过分段交互注意力机制协同建模局部与全局时空依赖性,生成初始轨迹提议. 在此基础上,动态细化网络递归融合场景上下文信息与轨迹提议,逐步修正其几何偏差,从而实现轨迹的精细化生成. 在Argoverse 2大规模真实驾驶数据集上的实验验证表明,所提框架在多模态预测任务中的最小平均位移误差(minADE)为0.65 m,最小终点位移误差(minFDE)为1.30 m,漏检率(MR)为0.17,平均推理时间为93 ms. 与多种主流方法相比,该框架在预测精度与计算效率方面展现出综合优势,为复杂动态场景下的长时域轨迹预测提供了高效的解决方案.

     

    Abstract: To address the problems of mode collapse and error accumulation in long-horizon multimodal vehicle trajectory prediction, a trajectory prediction framework integrating temporal decoupling and dynamic refinement was proposed. First, the trajectory proposal network was constructed, adopting a temporal decoupling strategy to divide the prediction horizon into consecutive segments and then utilizing a segment-wise interactive attention mechanism to model both local and global spatiotemporal dependencies, thereby generating initial trajectory proposals. Subsequently, the dynamic refinement network recursively fused scene context with these proposals, progressively correcting their geometric deviations to achieve fine-grained trajectory generation. Experimental validation on large-scale real-world driving dataset Argoverse 2 demonstrated that the proposed framework achieved a minimum average displacement error (minADE) of 0.65 m, a minimum final displacement error (minFDE) of 1.30 m, a miss rate (MR) of 0.17, and an average inference time of 93 ms in multimodal prediction tasks. Compared with various mainstream methods, this framework demonstrates a comprehensive advantage in both prediction accuracy and computational efficiency, providing an effective solution for long-horizon trajectory prediction in complex and dynamic scenarios.

     

/

返回文章
返回
Baidu
map