Anticipating possible behaviors of traffic participants is an essential capability of autonomous vehicles. Many behavior detection and maneuver recognition methods only have a very limited prediction horizon that leaves inadequate time and space for planning. To avoid unsatisfactory reactive decisions, it is essential to count long-term future rewards in planning, which requires extending the prediction horizon. In this paper, we uncover that clues to vehicle behaviors over an extended horizon can be found in vehicle interaction, which makes it possible to anticipate the likelihood of a certain behavior, even in the absence of any clear maneuver pattern. We adopt a recurrent neural network (RNN) for observation encoding, and based on that, we propose a novel vehicle behavior interaction network (VBIN) to capture the vehicle interaction from the hidden states and connection feature of each interaction pair. The output of our method is a probabilistic likelihood of multiple behavior classes, which matches the multimodal and uncertain nature of the distant future. A systematic comparison of our method against two state-of-the-art methods and another two baseline methods on a publicly available real highway dataset is provided, showing that our method has superior accuracy and advanced capability for interaction modeling.
Many learning-based prediction methods follow an RNN encoder-decoder structure @cite_18 and use it for predicting the trajectory of pedestrians @cite_9 @cite_4 @cite_29 and vehicles @cite_0 @cite_4 . RNNs are an alternative to the traditional methods (e.g., SVM, Gaussian process) @cite_19 @cite_5 for capturing maneuver patterns. Some works move one step further and consider the multi-agent interactions among pedestrians @cite_16 @cite_4 @cite_7 @cite_20 and vehicles @cite_4 @cite_0 in the RNN structure. The interaction-aware models for vehicles mainly adopt a social pooling strategy using RNN hidden states, which may be problematic for a highly dynamic scenario, as elaborated in the following.
@cite_18 @cite_4 @cite_7 @cite_9 @cite_29 @cite_0 @cite_19 @cite_5 @cite_16 @cite_20
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Pedestrians follow different trajectories to avoid obstacles and accommodate fellow pedestrians. Any autonomous vehicle navigating such a scene should be able to foresee the future positions of pedestrians and accordingly adjust its path to avoid collisions. This problem of trajectory prediction can be viewed as a sequence generation task, where we are interested in predicting the future trajectory of people based on their past positions. Following the recent success of Recurrent Neural Network (RNN) models for sequence prediction tasks, we propose an LSTM model which can learn general human movement and predict their future trajectories. This is in contrast to traditional approaches which use hand-crafted functions such as Social forces. We demonstrate the performance of our method on several public datasets. Our model outperforms state-of-the-art methods on some of these datasets. We also analyze the trajectories predicted by our model to demonstrate the motion behaviour learned by our model. We introduce a Deep Stochastic IOC RNN Encoder-decoder framework, DESIRE, for the task of future predictions of multiple interacting agents in dynamic scenes. DESIRE effectively predicts future locations of objects in multiple scenes by 1) accounting for the multi-modal nature of the future prediction (i.e., given the same context, future may vary), 2) foreseeing the potential future outcomes and make a strategic prediction based on that, and 3) reasoning not only from the past motion history, but also from the scene context as well as the interactions among the agents. DESIRE achieves these in a single end-to-end trainable neural network model, while being computationally efficient. The model first obtains a diverse set of hypothetical future prediction samples employing a conditional variational auto-encoder, which are ranked and refined by the following RNN scoring-regression module. Samples are scored by accounting for accumulated future rewards, which enables better long-term strategic decisions similar to IOC frameworks. An RNN scene context fusion module jointly captures past motion histories, the semantic scene context and interactions among multiple agents. A feedback mechanism iterates over the ranking and refinement to further boost the prediction accuracy. We evaluate our model on two publicly available datasets: KITTI and Stanford Drone Dataset. Our experiments show that the proposed model significantly improves the prediction accuracy compared to other baseline methods. Our goal is to combine the rich multistep inference of symbolic logical reasoning with the generalization capabilities of neural networks. We are particularly interested in complex reasoning about entities and relations in text and large-scale knowledge bases (KBs). (2015) use RNNs to compose the distributed semantics of multi-hop paths in KBs; however for multiple reasons, the approach lacks accuracy and practicality. This paper proposes three significant modeling advances: (1) we learn to jointly reason about relations, entities, and entity-types; (2) we use neural attention modeling to incorporate multiple paths; (3) we learn to share strength in a single RNN that represents logical composition across all relations. On a largescale Freebase+ClueWeb prediction task, we achieve 25 error reduction, and a 53 error reduction on sparse relations due to shared strength. On chains of reasoning in WordNet we reduce error in mean quantile by 84 versus previous state-of-the-art. The code and data are available at this https URL In this paper, we propose a deep learning-based vehicle trajectory prediction technique which can generate the future trajectory sequence of the surrounding vehicles in real time. We employ the encoder-decoder architecture which analyzes the pattern underlying in the past trajectory using the long short term memory (LSTM)-based encoder and generates the future trajectory sequence using the LSTM-based decoder. This structure produces the @math most likely trajectory candidates over occupancy grid map by employing the beam search technique which keeps the @math locally best candidates from the decoder output. The experiments conducted on highway traffic scenarios show that the prediction accuracy of the proposed method is significantly higher than the conventional trajectory prediction techniques.