Master Thesis on “Interaction Modeling for Autonomous Driving Using Graph Neural Networks”

Supervisor: Prof. Ville Kyrki (ville.kyrki@aalto.fi)
Advisor: Dr. Gökhan Alcan (gokhan.alcan@aalto.fi)

Keywords: interaction modeling, graph neural networks, autonomous driving.

Project Description

Social interactions between vehicles in traffic must be well-understood in order to develop safe autonomous systems. In semantic environments such as road traffic, ordinary vectorial representation does not capture the rich relationships of the ego vehicle with its neighbors. Graph neural networks (GNN) are ideally suited in such dynamic environments, as they can model changing conditions in the order and number of vehicles. The relationship information is pre-stated, and GNN can derive higher-level information through these relationships.

The goal of this thesis is to model the interactions among autonomous agents in dense traffic using GNN. In this context, the thesis is expected to include an ablation study to identify which input features (such as velocity, distance to other vehicles, etc.) has the maximum effect on prediction and the effects of changing the graph structure on the interactions among the vehicles.

Deliverables

  • Review of relevant literature,
  • Training and testing different GNN structures to model interactions among vehicles,
  • Ablation study on input features,
  • Comparison with existing state-of-the-art work.

Practical Information

Pre-requisites: Python(high), Deep Learning (high), and previous experience on GNNs is a big plus
Tools: PyTorch/Jax
Simulators: (up-to-change) Carla, DriverGym, highway-env
Start: Available immediately

References