Expressway Vehicle Trajectory Prediction Based on Fusion Data of Trajectories and Maps from Vehicle Perspective

Abstract

Research on vehicle trajectory prediction based on road monitoring video data often utilizes a global map as an input, disregarding the fact that drivers rely on the road structures observable from their own positions for path planning. This oversight reduces the accuracy of prediction. To address this, we propose the CVAE-VGAE model, a novel trajectory prediction approach. Initially, our method transforms global perspective map data into vehicle-centric map data, representing it through a graph structure. Subsequently, Variational Graph Auto-Encoders (VGAEs), an unsupervised learning framework tailored for graph-structured data, are employed to extract road environment features specific to each vehicle’s location from the map data. Finally, a prediction network based on the Conditional Variational Autoencoder (CVAE) structure is designed, which first predicts the driving endpoint and then fits the complete future trajectory. The proposed CVAE-VGAE model integrates a self-attention mechanism into its encoding and decoding modules to infer endpoint intent and incorporate road environment features for precise trajectory prediction. Through a series of ablation experiments, we demonstrate the efficacy of our method in enhancing vehicle trajectory prediction metrics. Furthermore, we compare our model with traditional and frontier approaches, highlighting significant improvements in prediction accuracy.

Keywords

• conditional variational autoencoder
• variational graph auto-encoders
• trajectory prediction