A Pedestrian Trajectory Prediction Method for Generative Adversarial Networks Based on Scene Constraints

Abstract

Pedestrian trajectory prediction is one of the most important topics to be researched for unmanned driving and intelligent mobile robots to perform perceptual interaction with the environment. To solve the problem of the SGAN (social generative adversarial networks) model lacking an understanding of pedestrian interaction and scene constraints, this paper proposes a trajectory prediction method based on a scenario-constrained generative adversarial network. Firstly, a self-attention mechanism is added, which can integrate information at every moment. Secondly, mutual information is introduced to enhance the influence of latent code on the predicted trajectory. Finally, a new social pool is introduced into the original trajectory prediction model, and a scene edge extraction module is added to ensure the final output path of the model is within the passable area in line with the physical scene, which greatly improves the accuracy of trajectory prediction. Based on the CARLA (CAR Learning to Act) simulation platform, the improved model was tested on the public dataset and the self-built dataset. The experimental results showed that the average moving deviation was reduced by 26.4% and the final offset was reduced by 23.8%, which proved that the improved model could better solve the uncertainty of pedestrian turning decisions. The accuracy and stability of pedestrian trajectory prediction are improved while maintaining multiple modes.