Injecting Knowledge in Data-driven Vehicle Trajectory Predictors

Abstract

Vehicle trajectory prediction tasks have been commonly tackled from two distinct perspectives: either with knowledge-driven methods or more recently with data-driven ones. On the one hand, we can explicitly implement domain-knowledge or physical priors such as anticipating that vehicles will follow the middle of the roads. While this perspective leads to feasible outputs, it has limited performance due to the difficulty to hand-craft complex interactions in urban environments. On the other hand, recent works use data-driven approaches which can learn complex interactions from the data leading to superior performance. However, generalization, \textit{i.e.}, having accurate predictions on unseen data, is an issue leading to unrealistic outputs. In this paper, we propose to learn a "Realistic Residual Block" (RRB), which effectively connects these two perspectives. Our RRB takes any off-the-shelf knowledge-driven model and finds the required residuals to add to the knowledge-aware trajectory. Our proposed method outputs realistic predictions by confining the residual range and taking into account its uncertainty. We also constrain our output with Model Predictive Control (MPC) to satisfy kinematic constraints. Using a publicly available dataset, we show that our method outperforms previous works in terms of accuracy and generalization to new scenes. We will release our code and data split here: https://github.com/vita-epfl/RRB.

Published in Transportation Research: Part C

References in corpus (7)

• INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps
• Multiple Futures Prediction
• Neural-Symbolic Computing: An Effective Methodology for Principled Integration of Machine Learning and Reasoning
• DR-RNN: A deep residual recurrent neural network for model reduction
• Residual Policy Learning
• Social-WaGDAT: Interaction-aware Trajectory Prediction via Wasserstein Graph Double-Attention Network
• Improving Deep Learning Models via Constraint-Based Domain Knowledge: a Brief Survey

Cited by in corpus (6)

• Social Interactions for Autonomous Driving: A Review and Perspectives
• Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directions
• Hierarchical Motion Encoder-Decoder Network for Trajectory Forecasting
• Lifelong Vehicle Trajectory Prediction Framework Based on Generative Replay
• Addressing crash-imminent situations caused by human driven vehicle errors in a mixed traffic stream: a model-based reinforcement learning approach for CAV
• Safety-aware Motion Prediction with Unseen Vehicles for Autonomous Driving