Path-Aware Graph Attention for HD Maps in Motion Prediction
Fang Da,Yu Zhang,Fang Da,Yu Zhang
The success of motion prediction for autonomous driving relies on integration of information from the HD maps. As maps are naturally graph-structured, investigation on graph neural networks (GNNs) for encoding HD maps is burgeoning in recent years. However, unlike many other applications where GNNs have been straightforwardly deployed, HD maps are heterogeneous graphs where vertices (lanes) are co...
