LAformer: Trajectory Prediction for Autonomous Driving with Lane-Aware Scene Constraints

Understand

Trajectory prediction for autonomous driving must continuously reason the motion stochasticity of road agents and comply with scene constraints.

• Existing methods typically rely on one-stage trajectory prediction models, which condition future trajectories on observed trajectories combined with fused scene information.
• However, they often struggle with complex scene constraints, such as those encountered at intersections.
• To this end, we present a novel method, called LAformer.