DBN-MACTraj: Dynamic Bayesian Networks for Predicting Combinations of Long-Term Trajectories with Likelihood for Multiple Agents
Year: 2024
Type: article
Abstract: Accurately predicting the long-term trajectories of agents in complex traffic environments is crucial for the safety and effectiveness of autonomous driving systems. This paper introduces DBN-MACTraj, a probabilistic model that takes historical trajectories and surrounding lane information as inputs to generate a distribution of predicted trajectory combinations for all agents. DBN-MACTraj consists of two main components: a single-agent probabilistic model and a multi-agent risk-averse sampling algorithm. The single-agent model utilizes a dynamic Bayesian network, which incorporates the driver’s maneuvering decisions along with information about surrounding lanes. The multi-agent sampling algorithm simultaneously generates predictions for all agents, using a risk potential field model to filter out samples that may lead to traffic accidents. Ultimately, this results in a probability distribution of the combinations of long-term trajectories. Experimental evaluations on the nuScenes dataset demonstrate that DBN-MACTraj delivers competitive performance in trajectory prediction compared to other state-of-the-art approaches.
Source: Mathematics
DOI: 10.3390/math12233674
Authors: Haonan Cui, Haolun Qi, Jianyu Zhou
Institution: Nankai University
Language: English
Subfield: Automotive Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,955
OpenAlex ID: W4404669691