This repo contains the code for the paper 'Graph and Recurrent Neural Network-based Vehicle Trajectory Prediction For Highway Driving' at ITSC-2021.
Select the vehicles which have change their lanes only once through out the study area.
python once_lc_veh_selector.py
Preprocess data for the single trajectory prediction task.
python stp_data_pre.py
The dataset is managed by
stp_gr_dataset.py
The proposed two channel model with GNN & RNN is implemented in stp_gr_model.py
The proposed interaction-only one channel model is implemented in stp_g_model.py
The proposed dynamics-only one channel model is implemented in stp_r_model.py
These models are based on a base model implemented in stp_base_model.py
Train the two channel model:
python train.py
If you find this repo helpful in your work, please cite our paper as:
@inproceedings{mo2021graph,
title={Graph and Recurrent Neural Network-based Vehicle Trajectory Prediction For Highway Driving},
author={Mo, Xiaoyu and Xing, Yang and Lv, Chen},
booktitle={2021 IEEE International Intelligent Transportation Systems Conference (ITSC)},
pages={1934--1939},
year={2021},
organization={IEEE}
}
Thank you!