Trajectory Similarity Scoring via Deep Neural Network
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Solution Overview
Problem
Evaluating the similarity between predicted and actual trajectories in autonomous driving vehicles is challenging due to the difficulty in numerically and objectively measuring the similarity, which affects the accuracy of prediction methods.
Innovation Solution
A deep neural network (DNN) model is trained to generate a similarity score by extracting features from selected trajectory points of predicted and actual trajectories, allowing for the evaluation of prediction method accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional trajectory evaluation methods are used, then the evaluation process is simple, but the measurement precision of trajectory similarity is insufficient
Solution Approach 1:
The patent introduces a deep neural network model as an intermediary between trajectory data and evaluation results. The DNN model processes trajectory features and generates similarity scores, acting as a mediator that transforms complex trajectory comparison into a standardized evaluation metric. This resolves the contradiction by providing high measurement precision through the DNN intermediary while keeping the overall system architecture manageable.
Solution Approach 2:
The patent transforms trajectory evaluation from direct spatial-temporal comparison into a parameter-based similarity scoring system. By extracting key features from trajectories and evaluating them through DNN-generated similarity scores, the system changes the evaluation parameters from raw coordinate data to processed similarity metrics, achieving higher measurement precision without proportionally increasing system complexity.
2Measurement precision
If detailed feature extraction from multiple trajectory points is performed, then the evaluation accuracy improves, but the computational time increases
Solution Approach 1:
The patent extracts only the most relevant features from selected trajectory points rather than processing all available data. By selectively extracting key characteristics that most influence trajectory similarity, the system achieves high evaluation accuracy while reducing the computational burden and time required for processing.
Solution Approach 2:
The patent applies partial action by selecting specific trajectory points for feature extraction rather than analyzing every point along the trajectory. This selective approach provides sufficient evaluation accuracy for most practical purposes while significantly reducing computational time compared to exhaustive analysis of all trajectory data.
Data Source
AI summary
According to one embodiment, when a predicted trajectory is received, a set of one or more features are extracted from at least some of the trajectory points of the predicted trajectory. The predicted trajectory is predicted using a prediction method or algorithm based on perception data perceiving an object within a driving environment surrounding an autonomous driving vehicle (ADV). The extracted features are fed into a predetermined DNN model to generate a similarity score. The similarity score represents a difference or similarity between the predicted trajectory and a prior actual trajectory that was used to train the DNN model. The similarity score can be utilized to evaluate the prediction method that predicted the predicted trajectory.


