The trajectory prediction is significant for the decision-making of autonomous driving vehicles. In this paper, we propose a model to predict the trajectories of target agents around an autonomous vehicle. The main idea of our method is considering the history trajectories of the target agent and the influence of surrounding agents on the target agent. To this end, we encode the target agent history trajectories as an attention mask and construct a social map to encode the interactive relationship between the target agent and its surrounding agents. Given a trajectory sequence, the LSTM networks are firstly utilized to extract the features for all agents, based on which the attention mask and social map are formed. Then, the attention mask and social map are fused to get the fusion feature map, which is processed by the social convolution to obtain a fusion feature representation. Finally, this fusion feature is taken as the input of a variable-length LSTM to predict the trajectory of the target agent. We note that the variable-length LSTM enables our model to handle the case that the number of agents in the sensing scope is highly dynamic in traffic scenes. To verify the effectiveness of our method, we widely compare with several methods on a public dataset, achieving a 20% error decrease. In addition, the model satisfies the real-time requirement with the 32 fps.
Behavior prediction of traffic actors is an essential component of any real-world self-driving system. Actors' long-term behaviors tend to be governed by their interactions with other actors or traffic elements (traffic lights, stop signs) in the scene. To capture this highly complex structure of interactions, we propose to use a hybrid graph whose nodes represent both the traffic actors as well as the static and dynamic traffic elements present in the scene. The different modes of temporal interaction (e.g., stopping and going) among actors and traffic elements are explicitly modeled by graph…
Predicting motion of surrounding agents is critical to real-world applications of tactical path planning for autonomous driving. Due to the complex temporal dependencies and social interactions of agents, on-line trajectory prediction is a challenging task. With the development of attention mechanism in recent years, transformer model has been applied in natural language sequence processing first and then image processing. In this paper, we present a Spatial-Channel Transformer Network for trajectory prediction with attention functions. Instead of RNN models, we employ transformer model to cap…
Soochow University（苏州大学）；University of North Carolina at Greensboro（北卡罗来纳大学格林斯伯勒分校）；The Hong Kong Polytechnic University（香港理工大学）
Traffic forecasting is one of the most fundamental problems in transportation science and artificial intelligence. The key challenge is to effectively model complex spatial-temporal dependencies and correlations in modern traffic data. Existing methods, however, cannot accurately model both long-term and short-term temporal correlations simultaneously, limiting their expressive power on complex spatial-temporal patterns. In this paper, we propose a novel spatial-temporal neural network framework: Attention-based Spatial-Temporal Graph Convolutional Recurrent Network (ASTGCRN), which consists o…
Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）；University of Macau（澳门大学）
Accurate traffic state prediction is the foundation of transportation control and guidance. It is very challenging due to the complex spatiotemporal dependencies in traffic data. Existing works cannot perform well for multi-step traffic prediction that involves long future time period. The spatiotemporal information dilution becomes serve when the time gap between input step and predicted step is large, especially when traffic data is not sufficient or noisy. To address this issue, we propose a multi-spatial graph convolution based Seq2Seq model. Our main novelties are three aspects: (1) We en…
To safely and rationally participate in dense and heterogeneous traffic, autonomous vehicles require to sufficiently analyze the motion patterns of surrounding traffic-agents and accurately predict their future trajectories. This is challenging because the trajectories of traffic-agents are not only influenced by the traffic-agents themselves but also by spatial interaction with each other. Previous methods usually rely on the sequential step-by-step processing of Long Short-Term Memory networks (LSTMs) and merely extract the interactions between spatial neighbors for single type traffic-agent…
China Mobile Research Institute（中国移动研究院）；Beijing University of Posts and Telecommunications（北京邮电大学）
Mobile network traffic forecasting is one of the key functions in daily network operation. A commercial mobile network is large, heterogeneous, complex and dynamic. These intrinsic features make mobile network traffic forecasting far from being solved even with recent advanced algorithms such as graph convolutional network-based prediction approaches and various attention mechanisms, which have been proved successful in vehicle traffic forecasting. In this paper, we cast the problem as a spatial-temporal sequence prediction task. We propose a novel deep learning network architecture, Adaptive …
Tsinghua University（清华大学）；University of Washington（华盛顿大学）
Multistep traffic forecasting on road networks is a crucial task in successful intelligent transportation system applications. To capture the complex non-stationary temporal dynamics and spatial dependency in multistep traffic-condition prediction, we propose a novel deep learning framework named attention graph convolutional sequence-to-sequence model (AGC-Seq2Seq). In the proposed deep learning framework, spatial and temporal dependencies are modeled through the Seq2Seq model and graph convolution network separately, and the attention mechanism along with a newly designed training method bas…
Predicting future trajectories of surrounding obstacles is a crucial task for autonomous driving cars to achieve a high degree of road safety. There are several challenges in trajectory prediction in real-world traffic scenarios, including obeying traffic rules, dealing with social interactions, handling traffic of multi-class movement, and predicting multi-modal trajectories with probability. Inspired by people's natural habit of navigating traffic with attention to their goals and surroundings, this paper presents a unique dynamic graph attention network to solve all those challenges. The ne…
Heterogeneous Graph-based Trajectory Prediction using Local Map Context and Social Interactions
FZI Research Center for Information Technology（FZI信息技术研究中心）；Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）；Bosch Center for Artificial Intelligence（博世人工智能中心）
Center for Cognitive Skill Enhancement（认知技能提升中心）；Independent University Bangladesh（孟加拉国独立大学）
Recognizing Traffic Signs using intelligent systems can drastically reduce the number of accidents happening world-wide. With the arrival of Self-driving cars it has become a staple challenge to solve the automatic recognition of Traffic and Hand-held signs in the major streets. Various machine learning techniques like Random Forest, SVM as well as deep learning models has been proposed for classifying traffic signs. Though they reach state-of-the-art performance on a particular data-set, but fall short of tackling multiple Traffic Sign Recognition benchmarks. In this paper, we propose a novel…
Leibniz University Hannover（汉诺威莱布尼茨大学）；University of Twente（特温特大学）
Trajectory prediction in urban mixed-traffic zones (a.k.a. shared spaces) is critical for many intelligent transportation systems, such as intent detection for autonomous driving. However, there are many challenges to predict the trajectories of heterogeneous road agents (pedestrians, cyclists and vehicles) at a microscopical level. For example, an agent might be able to choose multiple plausible paths in complex interactions with other agents in varying environments. To this end, we propose an approach named Multi-Context Encoder Network (MCENET) that is trained by encoding both past and futu…
Accurate real-time traffic forecasting is a core technological problem against the implementation of the intelligent transportation system. However, it remains challenging considering the complex spatial and temporal dependencies among traffic flows. In the spatial dimension, due to the connectivity of the road network, the traffic flows between linked roads are closely related. In terms of the temporal factor, although there exists a tendency among adjacent time points in general, the importance of distant past points is not necessarily smaller than that of recent past points since traffic fl…
College of Computer Science and Technology, Zhejiang University（浙江大学计算机科学与技术学院）；Alibaba Group（阿里巴巴集团）
Traffic forecasting is of great importance to transportation management and public safety, and very challenging due to the complicated spatial-temporal dependency and essential uncertainty brought about by the road network and traffic conditions. Latest studies mainly focus on modeling the spatial dependency by utilizing graph convolutional networks (GCNs) throughout a fixed weighted graph. However, edges, i.e., the correlations between pair-wise nodes, are much more complicated and interact with each other. In this paper, we propose the Multi-Range Attentive Bicomponent GCN (MRA-BGCN), a nove…
Despite the advancement in the technology of autonomous driving cars, the safety of a self-driving car is still a challenging problem that has not been well studied. Motion prediction is one of the core functions of an autonomous driving car. Previously, we propose a novel scheme called GRIP which is designed to predict trajectories for traffic agents around an autonomous car efficiently. GRIP uses a graph to represent the interactions of close objects, applies several graph convolutional blocks to extract features, and subsequently uses an encoder-decoder long short-term memory (LSTM) model t…
TrafficKAN-GCN: Graph Convolutional-based Kolmogorov-Arnold Network for Traffic Flow Optimization
School of Mathematics and Applied Mathematics, University of Nottingham Ningbo China（诺丁汉大学宁波校区数学与应用数学学院）；School of Computer Science, University of Nottingham Ningbo China（诺丁汉大学宁波校区计算机科学学院）；Department of Electrical and Computer Engineering, University of Washington（华盛顿大学电气与计算机工程系）；School of Computer Science, Carnegie Mellon University（卡内基梅隆大学计算机科学学院）；School of Engineering, University of Nottingham Ningbo China（诺丁汉大学宁波校区工程学院）；School of Computer Science, University College Dublin（都柏林大学学院计算机科学学院）；The ADAPT SFI Research Centre（ADAPT SFI研究中心）
Bridging Traffic State and Trajectory for Dynamic Road Network and Trajectory Representation Learning
School of Computer Science and Engineering, Beihang University（北京航空航天大学计算机科学与工程学院）；School of Economics and Management, Beihang University（北京航空航天大学经济管理学院）；Shenzhen Institute of Beihang University（北京航空航天大学深圳研究院）
Forecasting traffic flows is a central task in intelligent transportation system management. Graph structures have shown promise as a modeling framework, with recent advances in spatio-temporal modeling via graph convolution neural networks, improving the performance or extending the prediction horizon on traffic flows. However, a key shortcoming of state-of-the-art methods is their inability to take into account information of various modalities, for instance the impact of maintenance downtime on traffic flows. This is the issue we address in this paper. Specifically, we propose a novel model…
University of Washington（华盛顿大学）；INRIX, Inc.（因瑞克斯公司）
Traffic forecasting is a particularly challenging application of spatiotemporal forecasting, due to the time-varying traffic patterns and the complicated spatial dependencies on road networks. To address this challenge, we learn the traffic network as a graph and propose a novel deep learning framework, Traffic Graph Convolutional Long Short-Term Memory Neural Network (TGC-LSTM), to learn the interactions between roadways in the traffic network and forecast the network-wide traffic state. We define the traffic graph convolution based on the physical network topology. The relationship between t…
Dynamic Frequency Domain Graph Convolutional Network for Traffic Forecasting
Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所）；University of Chinese Academy of Sciences（中国科学院大学）；Academy of Cyber（网络研究院）
Urban traffic systems worldwide are suffering from severe traffic safety problems. Traffic safety is affected by many complex factors, and heavily related to all drivers' behaviors involved in traffic system. Drivers with aggressive driving behaviors increase the risk of traffic accidents. In order to manage the safety level of traffic system, we propose Driving Safety Credit inspired by credit score in financial security field, and design a scoring method using trajectory data and violation records. First, we extract driving habits, aggressive driving behaviors and traffic violation behaviors…
School of Computer Science and Engineering, Nanjing University of Science and Technology（南京理工大学计算机科学与工程学院）
Accurate traffic prediction is crucial to the guidance and management of urban traffics. However, most of the existing traffic prediction models do not consider the computational burden and memory space when they capture spatial-temporal dependence among traffic data. In this work, we propose a factorized Spatial-Temporal Tensor Graph Convolutional Network to deal with traffic speed prediction. Traffic networks are modeled and unified into a graph that integrates spatial and temporal information simultaneously. We further extend graph convolution into tensor space and propose a tensor graph co…
This paper describes our UNet based deep convolutional neural network approach on the Traffic4cast challenge 2019. Challenges task is to predict future traffic flow volume, heading and speed on high resolution whole city map. We used UNet based deep convolutional neural network to train predictive model for the short term traffic forecast. On each convolution block, layers are densely connected with subsequent layers like a DenseNet. Trained and evaluated on the real world data set collected from three distinct cities in the world, our method achieved best performance in this challenge.
Recently, adaptive graph convolutional network based traffic prediction methods, learning a latent graph structure from traffic data via various attention-based mechanisms, have achieved impressive performance. However, they are still limited to find a better description of spatial relationships between traffic conditions due to: (1) ignoring the prior of the observed topology of the road network; (2) neglecting the presence of negative spatial relationships; and (3) lacking investigation on uncertainty of the graph structure. In this paper, we propose a Bayesian Graph Convolutional Network (B…
Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）；Xiamen University（厦门大学）；National University of Singapore（新加坡国立大学）
Deep neural networks are being increasingly used for short-term traffic flow prediction, which can be generally categorized as convolutional (CNNs) or graph neural networks (GNNs). CNNs are preferable for region-wise traffic prediction by taking advantage of localized spatial correlations, whilst GNNs achieves better performance for graph-structured traffic data. When applied to region-wise traffic prediction, CNNs typically partition an underlying territory into grid-like spatial units, and employ standard convolutions to learn spatial dependence among the units. However, standard convolution…
Pennsylvania State University（宾夕法尼亚州立大学）；Shanghai Jiao Tong University（上海交通大学）
Simulation of the real-world traffic can be used to help validate the transportation policies. A good simulator means the simulated traffic is similar to real-world traffic, which often requires dense traffic trajectories (i.e., with a high sampling rate) to cover dynamic situations in the real world. However, in most cases, the real-world trajectories are sparse, which makes simulation challenging. In this paper, we present a novel framework ImInGAIL to address the problem of learning to simulate the driving behavior from sparse real-world data. The proposed architecture incorporates data int…
Traffic prediction is an important and yet highly challenging problem due to the complexity and constantly changing nature of traffic systems. To address the challenges, we propose a graph and attentive multi-path convolutional network (GAMCN) model to predict traffic conditions such as traffic speed across a given road network into the future. Our model focuses on the spatial and temporal factors that impact traffic conditions. To model the spatial factors, we propose a variant of the graph convolutional network (GCN) named LPGCN to embed road network graph vertices into a latent space, where…
This paper proposes a graph-based approach to representing spatio-temporal trajectory data that allows an effective visualization and characterization of city-wide traffic dynamics. With the advance of sensor, mobile, and Internet of Things (IoT) technologies, vehicle and passenger trajectories are being increasingly collected on a massive scale and are becoming a critical source of insight into traffic pattern and traveller behaviour. To leverage such trajectory data to better understand traffic dynamics in a large-scale urban network, this study develops a trajectory-based network traffic an…
Peking University（北京大学）；Beijing Institute of Big Data Research（北京大数据研究院）
Timely accurate traffic forecast is crucial for urban traffic control and guidance. Due to the high nonlinearity and complexity of traffic flow, traditional methods cannot satisfy the requirements of mid-and-long term prediction tasks and often neglect spatial and temporal dependencies. In this paper, we propose a novel deep learning framework, Spatio-Temporal Graph Convolutional Networks (STGCN), to tackle the time series prediction problem in traffic domain. Instead of applying regular convolutional and recurrent units, we formulate the problem on graphs and build the model with complete con…
Lafayette College（拉斐特学院）；Universidad Autónoma de Santo Domingo（圣多明各自治大学）
Vehicle counting systems can help with vehicle analysis and traffic incident detection. Unfortunately, most existing methods require some level of human input to identify the Region of interest (ROI), movements of interest, or to establish a reference point or line to count vehicles from traffic cameras. This work introduces a method to count vehicles from traffic videos that automatically identifies the ROI for the camera, as well as the driving trajectories of the vehicles. This makes the method feasible to use with Pan-Tilt-Zoom cameras, which are frequently used in developing countries. Pr…
Informed along the road: roadway capacity driven graph convolution network for network-wide traffic prediction
Tandon School of Engineering, New York University（纽约大学工程学院）；State Key Laboratory of Internet of Things for Smart City, University of Macau（澳门大学物联网智能城市国家重点实验室）
Predicting large-scale transportation network traffic has become an important and challenging topic in recent decades. Inspired by the domain knowledge of motion prediction, in which the future motion of an object can be predicted based on previous scenes, we propose a network grid representation method that can retain the fine-scale structure of a transportation network. Network-wide traffic speeds are converted into a series of static images and input into a novel deep architecture, namely, spatiotemporal recurrent convolutional networks (SRCNs), for traffic forecasting. The proposed SRCNs i…
Efficient Traffic Forecasting on Large-Scale Road Network by Regularized Adaptive Graph Convolution
School of Computer Science and Engineering, Sun Yat-Sen University, China（中山大学计算机科学与工程学院）；School of Artificial Intelligence, Sun Yat-Sen University, China（中山大学人工智能学院）；Guangdong Key Laboratory of Big Data Analysis and Processing, China（广东大数据分析与处理重点实验室）
Accurate traffic prediction in real time plays an important role in Intelligent Transportation System (ITS) and travel navigation guidance. There have been many attempts to predict short-term traffic status which consider the spatial and temporal dependencies of traffic information such as temporal graph convolutional network (T-GCN) model and convolutional long short-term memory (Conv-LSTM) model. However, most existing methods use simple adjacent matrix consisting of 0 and 1 to capture the spatial dependence which can not meticulously describe the urban road network topological structure and…
Traffic prediction is the cornerstone of an intelligent transportation system. Accurate traffic forecasting is essential for the applications of smart cities, i.e., intelligent traffic management and urban planning. Although various methods are proposed for spatio-temporal modeling, they ignore the dynamic characteristics of correlations among locations on road networks. Meanwhile, most Recurrent Neural Network (RNN) based works are not efficient enough due to their recurrent operations. Additionally, there is a severe lack of fair comparison among different methods on the same datasets. To ad…
Department of Mechanical Science and Engineering University of Illinois Champaign-Urbana（伊利诺伊大学厄巴纳-香槟分校机械科学与工程系）
Autonomous agents must be able to safely interact with other vehicles to integrate into urban environments. The safety of these agents is dependent on their ability to predict collisions with other vehicles' future trajectories for replanning and collision avoidance. The information needed to predict collisions can be learned from previously observed vehicle trajectories in a specific environment, generating a traffic model. The learned traffic model can then be incorporated as prior knowledge into any trajectory estimation method being used in this environment. This work presents a Gaussian p…
Accurate prediction of network-wide traffic conditions is essential for intelligent transportation systems. In the last decade, machine learning techniques have been widely used for this task, resulting in state-of-the-art performance. We propose a novel deep learning model, Graph Convolutional Gated Recurrent Neural Network (GCGRNN), to predict network-wide, multi-step traffic volume. GCGRNN can automatically capture spatial correlations between traffic sensors and temporal dependencies in historical traffic data. We have evaluated our model using two traffic datasets extracted from 150 senso…
