Trajectory Forecasts with Uncertainties of Vulnerable Road Users by Means of Neural Networks

Abstract

In this article, we present an approach to forecast trajectories of vulnerable road users (VRUs) including a numerical quantification of the uncertainty of the forecast. The uncertainty estimates are modeled as normal distributions by means of neural networks. Additionally, we present a method to evaluate the reliability of the forecasted uncertainty estimates, where we utilize quantile-quantile (Q-Q) plots, a graphical method to compare two distributions widely used in statistics. The positional accuracy is evaluated using Euclidean distances, in specific we use the average Euclidean error (AEE) and the average specific AEE (ASAEE). The model is trained and tested using a large dataset of 1311 cyclist trajectories, recorded at an urban intersection in real world traffic. Using this method, we achieve a similar positional accuracy compared to our previous work, where only positions are forecasted. The method is able to produce reliable uncertainty estimates for the motion types start, stop, turn left, and turn rightand produces underconfident uncertainty estimates for the motion types waitand move straight. Since uncertainties are not underestimated, the method can be used as a basis for trajectory planing in automated vehicles.