Reliable multi-agent trajectory prediction is crucial for the safe planning and control of autonomous systems. Compared with single-agent cases, the major challenge in simultaneously processing multiple agents lies in modeling complex social interactions caused by various driving intentions and road conditions. Previous methods typically leverage graph-based message propagation or attention mechanism to encapsulate such interactions in the format of marginal probabilistic distributions. However, it is inherently sub-optimal. In this paper, we propose IPCC-TP, a novel relevance-aware module based on Incremental Pearson Correlation Coefficient to improve multi-agent interaction modeling. IPCC-TP learns pairwise joint Gaussian Distributions through the tightly-coupled estimation of the means and covariances according to interactive incremental movements. Our module can be conveniently embedded into existing multi-agent prediction methods to extend original motion distribution decoders. Extensive experiments on nuScenes and Argoverse 2 datasets demonstrate that IPCC-TP improves the performance of baselines by a large margin.

翻译：可靠的多智能体轨迹预测对于自主系统的安全规划与控制至关重要。与单智能体场景相比，同时处理多个智能体的主要挑战在于建模由不同驾驶意图和道路条件引起的复杂社交交互。现有方法通常利用基于图的信令传播或注意力机制，以边际概率分布的形式封装这类交互，但这种做法本质上是次优的。本文提出IPCC-TP——一种基于增量皮尔逊相关系数的新型关联感知模块，以提升多智能体交互建模能力。IPCC-TP通过依据交互式增量运动对均值与协方差进行紧耦合估计，学习成对联合高斯分布。该模块可便捷嵌入现有基于原始运动分布解码器的多智能体预测方法中。在nuScenes和Argoverse 2数据集上的大量实验表明，IPCC-TP能显著提升基线方法的性能。