相关论文: Goal-based Neural Physics Vehicle Trajectory Predi…
Integrating trajectory prediction to the decision-making and planning modules of modular autonomous driving systems is expected to improve the safety and efficiency of self-driving vehicles. However, a vehicle's future trajectory prediction…
The prediction of humans' short-term trajectories has advanced significantly with the use of powerful sequential modeling and rich environment feature extraction. However, long-term prediction is still a major challenge for the current…
We present a new method for multi-modal, long-term vehicle trajectory prediction. Our approach relies on using lane centerlines captured in rich maps of the environment to generate a set of proposed goal paths for each vehicle. Using these…
In this paper, we propose an efficient vehicle trajectory prediction framework based on recurrent neural network. Basically, the characteristic of the vehicle's trajectory is different from that of regular moving objects since it is…
Predicting surrounding vehicle behaviors are critical to autonomous vehicles when negotiating in multi-vehicle interaction scenarios. Most existing approaches require tedious training process with large amounts of data and may fail to…
Pedestrian trajectory prediction is an essential component in a wide range of AI applications such as autonomous driving and robotics. Existing methods usually assume the training and testing motions follow the same pattern while ignoring…
Trajectory prediction plays a crucial role in the autonomous driving stack by enabling autonomous vehicles to anticipate the motion of surrounding agents. Goal-based prediction models have gained traction in recent years for addressing the…
Human trajectory forecasting is a key component of autonomous vehicles, social-aware robots and advanced video-surveillance applications. This challenging task typically requires knowledge about past motion, the environment and likely…
In this paper, we present Goal-GAN, an interpretable and end-to-end trainable model for human trajectory prediction. Inspired by human navigation, we model the task of trajectory prediction as an intuitive two-stage process: (i) goal…
To achieve full autonomous driving, a good understanding of the surrounding environment is necessary. Especially predicting the future states of other traffic participants imposes a non-trivial challenge. Current SotA-models already show…
Effective understanding of the environment and accurate trajectory prediction of surrounding dynamic obstacles are critical for intelligent systems such as autonomous vehicles and wheeled mobile robotics navigating in complex scenarios to…
In unstructured environments, obstacles are diverse and lack lane markings, making trajectory planning for intelligent vehicles a challenging task. Traditional trajectory planning methods typically involve multiple stages, including path…
This work introduces the multidimensional Graph Fourier Transformation Neural Network (GFTNN) for long-term trajectory predictions on highways. Similar to Graph Neural Networks (GNNs), the GFTNN is a novel network architecture that operates…
Accurate prediction of vehicle trajectories is vital for advanced driver assistance systems and autonomous vehicles. Existing methods mainly rely on generic trajectory predictions derived from large datasets, overlooking the personalized…
Model Predictive Control (MPC) has been widely applied to the motion planning of autonomous vehicles. An MPC-controlled vehicle is required to predict its own trajectories in a finite prediction horizon according to its model. Beyond this,…
Probabilistic vehicle trajectory prediction is essential for robust safety of autonomous driving. Current methods for long-term trajectory prediction cannot guarantee the physical feasibility of predicted distribution. Moreover, their…
We propose to predict the future trajectories of observed agents (e.g., pedestrians or vehicles) by estimating and using their goals at multiple time scales. We argue that the goal of a moving agent may change over time, and modeling goals…
As a vital component in autonomous driving, accurate trajectory prediction effectively prevents traffic accidents and improves driving efficiency. To capture complex spatial-temporal dynamics and social interactions, recent studies…
Accurate prediction of pedestrian trajectories is crucial for improving the safety of autonomous driving. However, this task is generally nontrivial due to the inherent stochasticity of human motion, which naturally requires the predictor…
Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…