Intersection trajectory prediction by integrating graph neural networks and candidate lane intent probabilities

In intersection scenarios, agents exhibit diverse intent choices, making trajectory prediction problems fraught with significant uncertainty. This study proposes a cross-intersection trajectory prediction method that considers the probability of agent intent. It integrates a vehicle speed model, an intent predictor based on agent kinematics, and a trajectory prediction method based on graph neural networks to enhance the accuracy of vehicle agent trajectory predictions by precisely capturing the intent of vehicle agents at intersections. Through training and validation on a large dataset of real-world driving data, experiments have demonstrated the method's capability to predict the behavior of traffic agents in intersection scenarios accurately. Specific experimental results on the nuScenes dataset show MinADE_5, MinADE_10, MissRate_5,2, and MissRate_10,2 values of 1.70, 1.45, 0.63, and 0.48, respectively.