Trajectory Prediction for Autonomous Driving Using Spatial-Temporal Graph Attention Transformer

Abstract

For autonomous vehicles driving on roads, future trajectories of surrounding traffic agents (e.g., vehicles, bicycles, pedestrians) are essential information. The prediction of future trajectories is challenging as the motion of traffic agents is constantly affected by spatial-temporal interactions from agents and road infrastructure. To take those interactions into account, this study proposes a Graph Attention Transformer (Gatformer) in which a traffic scene is represented by a sparse graph. To maintain the spatial and temporal information of traffic agents in a traffic scene, Convolutional Neural Networks (CNNs) are utilized to extract spatial features and a position encoder is proposed to encode the spatial features and the corresponding temporal features. Based on the encoded features, a Graph Attention Network (GAT) block is employed to model the agent-agent and agent-infrastructure interactions with the help of attention mechanisms. Finally, a Transformer network is introduced to predict trajectories for multiple agents simultaneously. Experiments are conducted over the Lyft dataset and state-of-the-art methods are introduced for comparison. The results show that the proposed Gatformer could make more accurate predictions while requiring less inference time than its counterparts.