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Abstract

Computerized systems and methods for training a trajectory prediction model for autonomous driving vehicles. The systems and methods receive agent dynamics data, high-dimensional (HD) map data; a training data set; and a plurality of meta paths through the HIN representing lane transitions, each meta path comprising a sequence of lane nodes and edges. Scene encoding is performed on the agent dynamics data and the HD map data to produce a directed Heterogeneous Information Network (HIN) as a graph comprising nodes and edges. The trajectory prediction model is trained based on a comparison between a prediction, by the trajectory prediction model, of a positive or negative presence of the meta paths between nodes and meta path ground truth obtained from the training data set and between motion trajectory predictions, by the trajectory prediction model, and motion trajectory ground truth obtained from the training data set.

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