论文标题
GANET:运动预测的目标区域网络
GANet: Goal Area Network for Motion Forecasting
论文作者
论文摘要
预测公路参与者的未来运动对于自动驾驶至关重要,但由于令人震惊的运动不确定性,因此极具挑战性。最近,大多数运动预测方法求助于基于目标的策略,即预测运动轨迹的终点,作为回归整个轨迹的条件,以便可以减少解决方案的搜索空间。但是,准确的目标坐标很难预测和评估。此外,目的地的点表示限制了丰富的道路环境的利用,导致预测不准确。目标区域,即可能的目的地区域而不是目标坐标,可以通过涉及更多的容忍度和指导来提供更软的限制,以搜索潜在的轨迹。考虑到这一点,我们提出了一个新的基于目标区域的框架,名为“目标区域网络”(GANET)进行运动预测,该框架对目标区域进行了建模,而不是确切的目标坐标作为轨迹预测的先决条件,更加可靠,更准确地执行。具体来说,我们建议一个goicrop(感兴趣的目标区域)操作员有效地提取目标区域中的语义车道功能,并在目标区域和模型演员的未来互动中提取语义巷道,这对未来的轨迹估计很大。 Ganet在所有公共文学中(直到论文提交)中排名第一的Argoverse Challenge排行榜上排名第一,其源代码将被发布。
Predicting the future motion of road participants is crucial for autonomous driving but is extremely challenging due to staggering motion uncertainty. Recently, most motion forecasting methods resort to the goal-based strategy, i.e., predicting endpoints of motion trajectories as conditions to regress the entire trajectories, so that the search space of solution can be reduced. However, accurate goal coordinates are hard to predict and evaluate. In addition, the point representation of the destination limits the utilization of a rich road context, leading to inaccurate prediction results in many cases. Goal area, i.e., the possible destination area, rather than goal coordinate, could provide a more soft constraint for searching potential trajectories by involving more tolerance and guidance. In view of this, we propose a new goal area-based framework, named Goal Area Network (GANet), for motion forecasting, which models goal areas rather than exact goal coordinates as preconditions for trajectory prediction, performing more robustly and accurately. Specifically, we propose a GoICrop (Goal Area of Interest) operator to effectively extract semantic lane features in goal areas and model actors' future interactions, which benefits a lot for future trajectory estimations. GANet ranks the 1st on the leaderboard of Argoverse Challenge among all public literature (till the paper submission), and its source codes will be released.