群组感知的行人轨迹预测方法研究
Pedestrian trajectory prediction method based on group perception
摘要
Abstract
Most methods do not model the pedestrian groups in autonomous driving,which will have an impact on road traffic safety.Therefore,a group perception pedestrian trajectory prediction network called GPCNet was proposed.Spe-cifically,in intra-group,the interaction between pedestrian was learned at the individual level and the preference issue of different pedestrian was considered.In inter-group,the interaction between pedestrian groups was learned at the group level and the collision issue of pedestrian trajectory was considered using the social force model.Simulation results dem-onstrate that GPCNet improves the performance on the ETH and UCY datasets by 75.4%compared to the commonly used trajectory prediction methods.关键词
自动驾驶/轨迹预测/行人群体/道路安全Key words
autonomous driving/trajectory prediction/pedestrian group/road safety分类
信息技术与安全科学引用本文复制引用
王汝言,周玉蝶,吴大鹏,段昂,崔亚平,何鹏..群组感知的行人轨迹预测方法研究[J].通信学报,2024,45(12):44-56,13.基金项目
国家自然科学基金资助项目(No.61801065,No.62271096,No.61871062,No.U20A20157,No.62061007,No.U24A20211) （No.61801065,No.62271096,No.61871062,No.U20A20157,No.62061007,No.U24A20211）
重庆市教委科学技术研究基金资助项目(No.KJQN202000603,No.KJQN202300621) （No.KJQN202000603,No.KJQN202300621）
重庆市自然科学基金资助项目(No.CSTB2024NSCQ-LZX0124,No.CSTB2022NSCQ-MSX0468,No.cstc2020jcyjzdxmX0024,No.CSTB2023NSCQ-LZX0134) （No.CSTB2024NSCQ-LZX0124,No.CSTB2022NSCQ-MSX0468,No.cstc2020jcyjzdxmX0024,No.CSTB2023NSCQ-LZX0134）
重庆市高校创新研究群体基金资助项目(No.CXQT20017) （No.CXQT20017）
重邮信通青创团队支持计划基金资助项目(No.SCIE-QN-2022-04) （No.SCIE-QN-2022-04）
四川省重点研发计划基金资助项目(No.2024YFHZ0093) The National Natural Science Foundation of China(No.61801065,No.62271096,No.61871062,No.U20A20157,No.62061007,No.U24A20211),The Science and Technology Research Program of Chongqing Municipal Education Commission(No.KJQN202000603,No.KJQN202300621),The Natural Science Foundation of Chongqing(No.CSTB2024NSCQ-LZX0124,No.CSTB2022NSCQ-MSX0468,No.cstc2020jcyjzdxmX0024,No.CSTB2023NSCQ-LZX0134),The University Innovation Re-search Group of Chongqing(No.CXQT20017),The Youth Innovation Group Support Program of ICE Discipline of CQUPT(No.SCIE-QN-2022-04),Sichuan Science and Technology Program(No.2024YFHZ0093) （No.2024YFHZ0093）
