道路工事区間における自動運転のためのヒューマン・イン・ザ・ループ運転データを用いた軌道予測
Trajectory Prediction for Autonomous Driving in Road Construction Zones Using Human-in-the-Loop Driving Data
工事区間の運転を再現したシミュレータで33名の運転データを収集し、運転操作・視線・車両軌道を統合したマルチモーダルな自己軌道予測モデルを提案、既存手法を上回る精度を達成した。
著者: Shuo Zhang, Aman Sunesh, Semiha Ergan, Kaan Ozbay
分類: cs.RO, cs.AI, cs.LG
原文アブストラクト
Ego-trajectory prediction in urban roadway work zones remains an underexplored topic in autonomous-driving research, with limited dedicated data and systematic evaluation. Roadway work zones involve temporary changes in the lane layouts and connectivity of the roads, complicating interactions with surrounding vehicles and workers. These changes make future vehicle trajectories difficult to predict. To address these challenges, we collect WZDrive-Data, a multimodal dataset comprising 1,183 work-zone driving segments from 33 drivers, using a human-in-the-loop driving simulator with prerecorded worker animations and VR-controlled workers. Driver control and gaze signals are recorded from human participants, while vehicle trajectories and scene information are obtained from the simulator. Our proposed multimodal ego-trajectory predictor, WZDrive, achieves a mean minADE (K=6) of 1.09 m and minFDE (K=6) of 2.12 m. Compared with the best-performing state-of-the-art baseline for each metric in our benchmark, WZDrive reduces minADE (K=6) by 7.18% and minFDE (K=6) by 13.18%. This research addresses a gap in autonomous-driving research on urban work zones by combining human-in-the-loop data collection with multimodal learning from human driving signals and in the context of work zones.