An End-to-End Trajectory Prediction Method for Unmanned Ground Vehicles via Multimodal Fusion.

To enhance unmanned ground vehicle (UGV) intelligence in smart cities, disaster rescue, and infrastructure inspection, this paper investigates the collaborative optimization of multimodal fusion end-to-end architectures. Through dynamic alignment of heterogeneous features, a multi-head distillation attention mechanism, and parallel decision-planning, a high-precision, low-latency closed-loop autonomous navigation framework is constructed. A Multi-Head Distillation Attention-based Trajectory Prediction (MDA-TP) method is proposed, combining a BEVFormer-based multimodal fusion perception model with a two-stage progressive knowledge distillation framework. On NuScenes, the method achieves an ADE of 0.88 m, an FDE of 1.32 m (4.34% and 10.81% reductions), and a collision rate of 15.2%, with 42.6 M parameters and 46 ms latency. Ablation shows removing attention distillation increases FDE by 13.6%. For system validation, a multi-sensor UGV platform is built. Through NuScenes online testing and real-world closed-loop validation, the Euclidean deviation remains within 0.5 m. Compared with traditional distillation, speed prediction MSE is reduced by 51.5%, wheel angle RMSE by 58.4%, and route completion improves from 60.99% to 97.26%. The results provide practical support for autonomous driving in smart cities, disaster rescue, and infrastructure inspection.