Multi-modal Pedestrian Trajectory Prediction based on Pedestrian Intention for Intelligent Vehicle

The prediction of pedestrian trajectory is conducive to reducing traffic accidents and protecting pedestrian safety, which is crucial to the task of intelligent driving.The existing methods mainly use the past pedestrian trajectory to predict the future deterministic pedestrian trajectory, ignoring pedestrian intention and trajectory diversity.This paper proposes a multimodal trajectory prediction model that introduces pedestrian intention.Unlike previous work, our model makes multi-modal goal-conditioned trajectory pedestrian prediction based on the past pedestrian trajectory and pedestrian intention.At the same time, we propose a novel Gate Recurrent Unit (GRU) to process intention information dynamically.Compared with traditional GRU, our GRU adds an intention unit and an intention gate, in which the intention unit is used to dynamically process pedestrian intention, and the intention gate is used to control the intensity of intention information.The experimental results on two first-person traffic datasets (JAAD and PIE) show that our model is superior to the most advanced methods (Improved by 30.4% on MSE0.5s and 9.8% on MSE1.5s for the PIE dataset; Improved by 15.8% on MSE0.5s and 13.5% on MSE1.5s for the JAAD dataset).Our multi-modal trajectory prediction model combines pedestrian intention that varies at each prediction time step and can more comprehensively consider the diversity of pedestrian trajectories.Our method, validated through experiments, proves to be highly effective in pedestrian trajectory prediction tasks, contributing to improving traffic safety and the reliability of intelligent driving systems.