Abstract
Understanding traffic participants' behaviour is crucial for predicting their future trajectories, aiding in developing safe and reliable planning systems for autonomous vehicles. Integrating cognitive processes and machine learning models has shown promise in other domains but is lacking in the trajectory forecasting of multiple traffic agents in large-scale autonomous driving datasets. This work investigates the state-of-the-art trajectory forecasting model Trajectron++ which we enhance by incorporating a smoothing term in its attention module. This attention mechanism mimics human attention inspired by cognitive science research indicating limits to attention switching. We evaluate the performance of the resulting Smooth-Trajectron++ model and compare it to the original model on various benchmarks, revealing the potential of incorporating insights from human cognition into trajectory prediction models.
Original language | English |
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Title of host publication | Proceedings of the IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023 |
Publisher | IEEE |
Pages | 5423-5428 |
Number of pages | 6 |
ISBN (Electronic) | 979-8-3503-9946-2 |
DOIs | |
Publication status | Published - 2023 |
Event | 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023 - Euskalduna Conference Centre, Bilbao, Spain Duration: 24 Sept 2023 → 28 Sept 2023 https://2023.ieee-itsc.org/ |
Publication series
Name | IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC |
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ISSN (Print) | 2153-0009 |
ISSN (Electronic) | 2153-0017 |
Conference
Conference | 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023 |
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Abbreviated title | IEEE ITSC 2023 |
Country/Territory | Spain |
City | Bilbao |
Period | 24/09/23 → 28/09/23 |
Internet address |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.