Towards Explainable Deep Learning for Ship Trajectory Prediction in Inland Waterways

Accurate predictions of ship trajectories in crowded environments are essential to ensure safety in inland waterways traffic. Recent advances in deep learning promise increased accuracy even for complex scenarios. While the challenge of ship-to-ship awareness is being addressed with growing success, the explainability of these models is often overlooked, potentially obscuring an inaccurate logic and undermining the confidence in their reliability. This study examines an LSTM-based vessel trajectory prediction model by incorporating trained ship domain parameters that provide insight into the attention-based fusion of the interacting vessels' hidden states. This approach has previously been explored in the field of maritime shipping, yet the variety and complexity of encounters in inland waterways allow for a more profound analysis of the model's interpretability. The prediction performance of the proposed model variants are evaluated using standard displacement error statistics. Additionally, the plausibility of the generated ship domain values is analyzed. With an final displacement error of around 40 meters in a 5 minute prediction horizon, the model performs comparably to similar studies. Though the ship-to-ship attention architecture enhances prediction accuracy, the weights assigned to vessels in encounters using the learnt ship domain values deviate from the expectation. The observed accuracy improvements are thus not entirely driven by a causal relationship between a predicted trajectory and the trajectories of nearby ships. This finding underscores the model's explanatory capabilities through its intrinsically interpretable design. Future work will focus on utilizing the architecture for counterfactual analysis and on the incorporation of more sophisticated attention mechanisms.

Keywords: Multi-ship trajectory prediction, Learnable ship domain, LSTM, Inland shipping, Interaction awareness.