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What Truly Matters in Trajectory Prediction for Autonomous Driving?

Phong Tran* Haoran Wu* Cunjun Yu* Panpan Cai Sifa Zheng David Hsu
National University of Singapore, Tsinghua University 
Shanghai Jiao Tong University 
*equal contribution
NeurIPS 2023

[Project Page] • [Paper]

Environment

While our code doesn't require any specific packages, each included method has its own environment requirements which are provided in the References section.

Data Structure

The main directory where all code is stored is referred to as global_path. The following structure is relative to that directory path:

.
├── datasets  # Add argoverse raw csv files here
│   ├── train
│   │   └── data
│   │       └── ... csv files
│   ├── val
│   │   └── data
│   │       └── ... csv files
│   └── test
│       └── data
│           └── ... csv files
├── datasets_summit  # add Alignment raw csv files here
│   ├── summit_10HZ
│   │   ├── train
│   │   │   └── data
│   │   │       └── ... csv files
│   │   ├── val
│   │   │   └── data
│   │   │       └── ... csv files
│   │   └── test
│   │       └── data
│   │           └── ... csv files
├── features  # Preprocessed features are saved here
│   ├── forecasting_features  # Save features for all methods
│   └── ground_truth_data  # Save GT for the dataset

LINKS

Alignment dataset

checkpoints

Train & Validate Predictors

python train.py configs/method_folder/config_to_use.py
python test.py configs/method_folder/config_to_use.py

Change method_folder to any folder you want to use, and config_to_use.py to any config you hope to try. All configs on Alignment dataset have summit in its name.

Tips

When training KNN, you may find this error: BLAS : Program is Terminated. Because you tried to allocate too many memory regions. Using the code below will help fix it:

export OPENBLAS_NUM_THREADS=1
export GOTO_NUM_THREADS=1
export OMP_NUM_THREADS=1

For training DSP, run the scripts to generate the preprocess data.

Getting Motion Planning Performance

Go to Summit Release and choose the right version for your operating system:

  • 0.9.8e (non-lite version) for Ubuntu 18.04 (the version where the experiment was conducted)

Unzip and put in the home folder ~/summit

Set up catkin workspace

Run

cd && mkdir whatmatters
cd whatmatters
git clone https://github.com/AdaCompNUS/WhatMatters
cd WhatMatters
mv * ../
mv .git .gitignore ../
rm -rf WhatMatters

Moving synchronous file to ~/summit folder

cd && mkdir whatmatters
cd whatmatters
mv gamma_crowd_gammaplanner.py ~/summit/PythonAPI/examples/

Downloading imagery inside summit

cd && mkdir whatmatters
cd whatmatters
cd ~/src/scripts
python3 launch_docker.py --image cppmayo/melodic_cuda10_1_cudnn7_libtorch_opencv4_ws_noentry
cd summit/Scripts
pip3 install requests
python3 download_imagery.py -d meskel_square
python3 download_imagery.py -d beijing
python3 download_imagery.py -d highway
python3 download_imagery.py -d chandni_chowk
python3 download_imagery.py -d magic
python3 download_imagery.py -d shibuya
python3 download_imagery.py -d shi_men_er_lu

Set up Docker

docker pull cppmayo/melodic_cuda10_1_cudnn7_libtorch_opencv4_ws_noentry

We also need to install docker-nvidia2 as followed guide (https://developer.nvidia.com/blog/gpu-containers-runtime/)

Build code

cd ~/src/scripts
python3 launch_docker.py --image cppmayo/melodic_cuda10_1_cudnn7_libtorch_opencv4_ws_noentry

Inside docker, run:

catkin config --merge-devel
catkin clean
catkin build

(Ignore the type error of the signal handler) After building catkin workspace, exit the docker setup with Ctrl+d

Get the conda environment

Install either conda or miniconda. If you install conda, then at line 12 in src/scripts/launch_docker.py, you need to change to anaconda3, if miniconda then you change to miniconda3

cd src/moped/moped_impelmentation/
conda create env --name moped -f hivt.yml

Get argoverse-api

cd ~/whatmatters
git clone https://github.com/argoai/argoverse-api.git
pip install -e argoverse-api
pip install Pyro4
pip install mmcv==1.7.1

Noting that if you got error in install sklearn, editting setup.py insie argoverse-api to change to scikit-learn. And if you have issue with lapsolver, use command pip install cmake then reinstalling

Get a new docker for executing DESPOT and RVO Planner

docker pull cppmayo/melodic_cuda10_1_cudnn7_libtorch_opencv4_ws

Running RVO Planner (Recommended mode)

cd ~/src/scripts
python server_pipeline.py --gpu <gpu_id> --trials <number of runnings>

After running, the data will be stored inside ~/driving_data. Refer to next section for reporting driving performance metrics

Reporting metrics

cd ~/src/scripts/experiment_notebook
python Analyze_RVO_DESPOT.py --mode data
python Analyze_RVO_DESPOT.py

Then you will get the plot with x-axis is prediction performancde and y-axis is driving performance

Citation

@misc{wutran2023truly,
      title={What Truly Matters in Trajectory Prediction for Autonomous Driving?}, 
      author={Haoran Wu and Tran Phong and Cunjun Yu and Panpan Cai and Sifa Zheng and David Hsu},
      year={2023},
      eprint={2306.15136},
      archivePrefix={arXiv},
}

Reference

The code base heavily borrows from:

Argoverse Forecasting: https://github.com/jagjeet-singh/argoverse-forecasting

LaneGCN: https://github.com/uber-research/LaneGCN

HiVT: https://github.com/ZikangZhou/HiVT

DSP: https://github.com/HKUST-Aerial-Robotics/DSP

HOME: https://github.com/Robotmurlock/TNT-VectorNet-and-HOME-Trajectory-Forecasting