TAE: A Semi-supervised Controllable Behavior-aware Trajectory Generator and Predictor

• URL: http://arxiv.org/abs/2203.01261v1
• Date: Wed, 2 Mar 2022 17:37:44 GMT
• Title: TAE: A Semi-supervised Controllable Behavior-aware Trajectory Generator and Predictor
• Authors: Ruochen Jiao, Xiangguo Liu, Bowen Zheng, Dave Liang, and Qi Zhu
• Abstract summary: Trajectory generation and prediction play important roles in planner evaluation and decision making for intelligent vehicles. We propose a behavior-aware Trajectory Autoencoder (TAE) that explicitly models drivers' behavior. Our model addresses trajectory generation and prediction in a unified architecture and benefits both tasks.
• Score: 3.6955256596550137
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Trajectory generation and prediction are two interwoven tasks that play important roles in planner evaluation and decision making for intelligent vehicles. Most existing methods focus on one of the two and are optimized to directly output the final generated/predicted trajectories, which only contain limited information for critical scenario augmentation and safe planning. In this work, we propose a novel behavior-aware Trajectory Autoencoder (TAE) that explicitly models drivers' behavior such as aggressiveness and intention in the latent space, using semi-supervised adversarial autoencoder and domain knowledge in transportation. Our model addresses trajectory generation and prediction in a unified architecture and benefits both tasks: the model can generate diverse, controllable and realistic trajectories to enhance planner optimization in safety-critical and long-tailed scenarios, and it can provide prediction of critical behavior in addition to the final trajectories for decision making. Experimental results demonstrate that our method achieves promising performance on both trajectory generation and prediction.

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