Authors:
Junya Isogawa
;
Fumihiko Sakaue
and
Jun Sato
Affiliation:
Nagoya Institute of Technology, Nagoya 466-8555, Japan
Keyword(s):
Driving Intention, Multiple Vehicles, Multiple Drivers, Vehicle Trajectory, Video Transformer.
Abstract:
In autonomous driving, it is important for the vehicle to appropriately determine the next action to be taken on the road. In complex situations such as on public roads, the better action for the own vehicle can be determined by considering the driving intention of other vehicles around the vehicle. Thus, in this paper, we propose a method to determine the next action of the own vehicle by simultaneously estimating the next driving intentions of all vehicles, including other vehicles around the own vehicle. The time series of vehicle motions on the road can be represented as sequential images centered on the vehicle. In this paper, we analyze the sequential images of vehicle trajectories using the Video Transformer and simultaneously predict the driving intentions of all vehicles on the road. In general, driving intentions change over time. Thus, in this research, we first propose a method to predict the next intention, and then extend it to predict the transition of driving intentio
ns over the next few seconds. We also apply our method to predict driving trajectories, and show that the prediction of the driving trajectory can be improved by using the driving intentions estimated from the proposed method.
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