相关论文: A Structure-Aware Lane Graph Transformer Model for…

Traffic forecasting is a significant part of intelligent transportation systems. One of the critical challenges of traffic forecasting is to find spatio-temporal correlations. In recent years, graph convolutional networks and graph…

The success of motion prediction for autonomous driving relies on integration of information from the HD maps. As maps are naturally graph-structured, investigation on graph neural networks (GNNs) for encoding HD maps is burgeoning in…

The robust and safe operation of automated vehicles underscores the critical need for detailed and accurate topological maps. At the heart of this requirement is the construction of lane graphs, which provide essential information on lane…

The Transformer architecture has gained growing attention in graph representation learning recently, as it naturally overcomes several limitations of graph neural networks (GNNs) by avoiding their strict structural inductive biases and…

Encoding a driving scene into vector representations has been an essential task for autonomous driving that can benefit downstream tasks e.g. trajectory prediction. The driving scene often involves heterogeneous elements such as the…

Accurate multi-vehicle trajectory prediction in expressway merge and diverge areas is fundamental to the decision-making frameworks of autonomous vehicle systems. However, the majority of existing graph-based prediction models are developed…

In autonomous driving, High Definition (HD) maps provide a complete lane model that is not limited by sensor range and occlusions. However, the generation and upkeep of HD maps involves periodic data collection and human annotations,…

Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs to know the current state of the surrounding objects but also their possible states in the future. As for vehicles, their trajectories are…

It has been challenging to model the complex temporal-spatial dependencies between agents for trajectory prediction. As each state of an agent is closely related to the states of adjacent time steps, capturing the local temporal dependency…

For automotive applications, the Graph Attention Network (GAT) is a prominently used architecture to include relational information of a traffic scenario during feature embedding. As shown in this work, however, one of the most popular GAT…

Lane detection, the process of identifying lane markings as approximated curves, is widely used for lane departure warning and adaptive cruise control in autonomous vehicles. The popular pipeline that solves it in two steps -- feature…

Research on lane change prediction has gained a lot of momentum in the last couple of years. However, most research is confined to simulation or results obtained from datasets, leaving a gap between algorithmic advances and on-road…

Traffic forecasting is a key task in the field of Intelligent Transportation Systems. Recent research on traffic forecasting has mainly focused on combining graph neural networks (GNNs) with other models. However, GNNs only consider…

With the increasing prevalence of autonomous vehicles, it is essential for computer vision algorithms to accurately assess road features in real-time. This study explores the LaneSegNet architecture, a new approach to lane topology…

We propose a motion forecasting model that exploits a novel structured map representation as well as actor-map interactions. Instead of encoding vectorized maps as raster images, we construct a lane graph from raw map data to explicitly…

Accurate motion forecasting is critical for safe and efficient autonomous driving, enabling vehicles to predict future trajectories and make informed decisions in complex traffic scenarios. Most of the current designs of motion prediction…

Prediction of vehicle lane change maneuvers has gained a lot of momentum in the last few years. Some recent works focus on predicting a vehicle's intention by predicting its trajectory first. This is not enough, as it ignores the context of…

Spatio-temporal forecasting is critical in applications such as traffic prediction, energy demand modeling, and weather monitoring. While Graph Attention Networks (GATs) are popular for modeling spatial dependencies, they rely on predefined…

Accurately forecasting the future movements of surrounding vehicles is essential for safe and efficient operations of autonomous driving cars. This task is difficult because a vehicle's moving trajectory is greatly determined by its…

Aiming for higher-level scene understanding, this work presents a neural network approach that takes a road-layout map in bird's-eye-view as input, and predicts a human-interpretable graph that represents the road's topological layout. Our…