Vehicle Trajectory Prediction Using Residual Diffusion Model Based on Image Information

In automatic driving, accurate prediction of vehicle trajectory is the key to achieve automatic driving, and multi-vehicle joint trajectory prediction has become an important part of modern human-computer interaction systems such as automatic driving. In order to better predict vehicle trajectories, we propose a new residual diffusion model to infer the joint distribution of future multi-vehicle trajectories. This approach has several major advantages. First, the model is able to learn multiple probability distributions from trajectory data to obtain potential outcomes for vehicles to multiple future trajectories. Secondly, in order to integrate the motion characteristics of multiple vehicles in the same scene, we use the method of combining the reference denoising and multiple residual denoising to improve the model performance and prediction speed. Finally, on this basis, a general trajectory constraint function is introduced, so that the generated trajectories of multiple vehicles will not collide with each other. We perform a rich experimental comparison of various existing methods on the NGSIM dataset and demonstrate that the proposed algorithm achieves a 26% improvement on mAP.