Vehicle trajectory prediction method integrating spatiotemporal relationships with hybrid time-step scene interaction

Abstract

In vehicle trajectory prediction, constructing the interactive relationships among vehicles within the traffic environment poses a significant challenge. Existing models predominantly focus on temporal dependencies within vehicle histories and spatial correlations among neighboring vehicles, overlooking the continuous influence of historical vehicle states on the current time step and the interplay of multiple sequences over time. To address these limitations, we propose a method for multimodal vehicle trajectory prediction that integrates Hybrid Time-step Scene Interaction (HTSI) into the spatiotemporal relationships. Firstly, we introduce the HTSI module, comprising Multi-step Temporal Information Aggregation (MTIA) and Single-step Temporal Information Aggregation (STIA) methods. MTIA utilizes multi-head attention mechanisms to capture temporal dependencies between consecutive frames, thereby generating new time series amalgamating the ongoing influence of historical time states on the current timestamp. Simultaneously, STIA employs multi-head attention mechanisms to capture the spatial dimension weights of multiple time series and, by aggregating spatial interaction features at each timestamp, generates new time series fused with spatial interaction influences. Subsequently, feature extraction is performed through LSTM layers. Moreover, we propose an improved DIPM pooling module, improving the model’s long-term prediction capability by selectively reusing historical hidden states. Ultimately, based on training results from the HighD and NGSIM datasets, our model demonstrates significant advantages in long-term prediction compared to other state-of-the-art trajectory prediction models. Specifically, within the 5 s prediction window, the model achieved a root mean square error (RMSE) of 2.79 m on the NGSIM dataset, representing a 33.62% improvement over the baseline model’s average accuracy. Additionally, on the HighD dataset, the model attained an RMSE of 2.16 m, reflecting a 33.43% enhancement. The crucial code can be obtained from the provided link: https://github.com/gyhhq/Prediction-trajectory .