In autonomous driving, accurately predicting the movements of other traffic participants is crucial, as it significantly influences a vehicle's planning processes. Modern trajectory prediction models strive to interpret complex patterns and dependencies from agent and map data. The Motion Transformer (MTR) architecture and subsequent work define the most accurate methods in common benchmarks such as the Waymo Open Motion Benchmark. The MTR model employs pre-generated static intention points as initial goal points for trajectory prediction. However, the static nature of these points frequently leads to misalignment with map data in specific traffic scenarios, resulting in unfeasible or unrealistic goal points. Our research addresses this limitation by integrating scene-specific dynamic intention points into the MTR model. This adaptation of the MTR model was trained and evaluated on the Waymo Open Motion Dataset. Our findings demonstrate that incorporating dynamic intention points has a significant positive impact on trajectory prediction accuracy, especially for predictions over long time horizons. Furthermore, we analyze the impact on ground truth trajectories which are not compliant with the map data or are illegal maneuvers.
View on arXiv@article{demmler2025_2504.15766,
title={ Dynamic Intent Queries for Motion Transformer-based Trajectory Prediction },
author={ Tobias Demmler and Lennart Hartung and Andreas Tamke and Thao Dang and Alexander Hegai and Karsten Haug and Lars Mikelsons },
journal={arXiv preprint arXiv:2504.15766},
year={ 2025 }
}