BIP-Tree: Tree Variant With Behavioral Intention Perception for Heterogeneous Trajectory Prediction

Abstract

An insightful understanding and relational reasoning of motion behavior are typical components for trajectory prediction to achieve safe planning when navigating in complex scenarios. Due to the differences in behavioral responses of heterogeneous agents and the existence of chain effect in message passing, an effective prediction method is desired to better acquire potential behavioral intention and model motion behavior. In this paper, we construct a trajectory prediction method to represent and encode the behavioral interactions among heterogeneous agents, called as <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Tree variant with Behavioral Intention Perception (BIP-Tree)</i> . Specifically, a dual-behavior interaction module is presented to deeply understand behavioral intention by simultaneously considering the behavioral perception and behavioral response in spatial interaction. The behavioral perception means that individual acquires behavioral features from interactive objects located in its perception range, while the behavioral response means that each agent makes distinctive reactions to different categories of agents (for example, due to different collision risks caused by pedestrian and vehicle, a pedestrian will respond differently to the interactive agents at the same distance). Meanwhile, we also introduce one new tree variant in message passing stage to enhance the acquisition of potential motion feature, denoting traffic agents as nodes and the interactions among them as tree trunks. The interaction message can be delivered along tree trunks from leaf nodes to root node, to further achieves the chain effect of high-order interactions beyond adjacent entities. Our method is evaluated on several public datasets, such as Apolloscape, nuScenes, Argoverse, SDD, INTERACTION, inD, and Waymo. The extensive experimental results demonstrate that our method can predict more plausible and realistic trajectories with multi-modality. Among them, the best performance is achieved on three datasets. More remarkably, compared with state-of-the-arts, our method achieves significant performance and decreases by at least <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$13.04\%$</tex-math> </inline-formula> on average ADE and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$19.42\%$</tex-math> </inline-formula> on average FDE on inD dataset with four intersections. The dataset and code are available at: htpps://github.com/VTP-TL/BIP-Tree.