ST-LSTM: SPATIO-TEMPORAL GRAPH BASED LONG SHORT-TERM MEMORY NETWORK FOR VEHICLE TRAJECTORY PREDICTION

Autonomous vehicles need the ability to predict the trajectory of surrounding vehicles, so as to make a rational decision planning, improve driving safety and ride comfort. In this paper, a new hierarchical Long Short-Term Memory (LSTM) based on Spatio-Temporal (ST) graph is proposed for vehicle trajectory prediction. Our ST-LSTM uses three layers of different LSTMs to capture the information of spatial, temporal and trajectory data, and LSTM-based encoder-decoder model as a whole, which is capable of accurately predicting future trajectories for vehicles on the highway. Our model trained and validated on the publicly available NGSIM US-101 and I-80 datasets. In comparison to state-of-art methods, our method could achieve a more accurate prediction trajectory over 5s time horizon.