GSAN: Graph Self-Attention Network for Interaction Measurement in Autonomous Driving

Luyao Ye, Zezhong Wang, Xinhong Chen, Jianping Wang, Kui Wu, Kejie Lu

Abstract: Modeling the interactions among vehicles has been considered essential in improving efficiency and safety in autonomous driving, since the real traffic scenarios, such as merging lanes, intersection, and lane change, are full of complex interactions. In the literature, interaction is considered implicitly in individual tasks, which makes it hard to extract the interactions for other related downstream tasks. In this paper, we propose a novel Graph Self-Attention Network (GSAN) to quickly capture and quantify the influence of interactions among vehicles from historical trajectories, which can be used as a tool to introduce the impact of interactions into different downstream tasks and further analyze the dominating features affecting the interactions among vehicles. We conduct experiments on the trajectory prediction task as one example to illustrate how to use the spatial-temporal interaction vector to improve the performance of interaction related tasks. The experiment results demonstrate that the GSAN module outperforms the state-of-the-art solutions in terms of the trajectory prediction accuracy. Also, we visualize the effects from all surrounding vehicles on the ego vehicle by heat maps using the trained attention values from the GSAN module.