/vehicle-trajectory-prediction

Behavior Prediction in Autonomous Driving

Primary LanguageShell

基础知识

基础

笛卡尔坐标系&frenet坐标系: [数学推导]

开源数据集

motion forecasting dataset

其他

资料


vehicle trajectory prediction

关键字

  • Motion forecasting/prediction
  • Trajectory Prediction
  • Vehicle behavior prediction

其他词汇

  • Occupancy Grid Maps[zhihu]
  • BEV(Bird's eye view)
  • HD maps
  • geographic coordinate system

Paper List

  • "Fast lane changing computations using polynomials" "Proceedings of the 2003 American Control Conference" (2003) [paper]
  • "Vehicle trajectory prediction based on motion model and maneuver recognition" (2013 IROS) [paper]
  • "A survey on motion prediction and risk assessment for intelligent vehicles"(2014) [paper]
  • "Lane Change Scheduling for Autonomous Vehicles"(2016) [paper]
  • "Lane-Change Detection Based on Vehicle-Trajectory Prediction" (IEEE Robotics and Automation Letters 2017) [paper]
  • "Vehicle trajectory prediction by integrating physics-and maneuver-based approaches using interactive multiple models" (IEEE Transactions on Industrial Electronics 2017) [paper]
  • "Probabilistic vehicle trajectory prediction over occupancy grid map via recurrent neural network" (ITSC 2017) [paper]
  • "Sequence-to-Sequence Prediction of Vehicle Trajectory via LSTM Encoder-Decoder Architecture"(2018 IEEE Intelligent Vehicles Symposium (IV) 2018) [paper]
  • "Convolutional Social Pooling for Vehicle Trajectory Prediction"(CVPR 2018) [paper]
  • "Modeling Vehicle Interactions via Modified LSTM Models for Trajectory Prediction" (IEEE Access 2019) [paper]
  • "Non-local Social Pooling for Vehicle Trajectory Prediction" (IEEE Intelligent Vehicles Symposium (IV) 2019) [paper]

Review

  • "Deep learning-based vehicle behavior prediction for autonomous driving applications: A review" (2020 IEEE Transactions on Intelligent Transportation Systems) [paper]

近几年进展

  • "The KITTI dataset" (IJRR 2013) [paper] [website]
  • "DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agents" (CVPR 2017) [paper] [code]
  • "Argoverse: 3D Tracking and Forecasting with Rich Maps" (CVPR 2019) [paper] [code1] [code2] [website] [API]
  • "INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps" [paper] [website] [code]
  • "TPNet: Trajectory Proposal Network for Motion Prediction" (CVPR 2020) [paper]
  • "Learning Lane Graph Representations for Motion Forecasting" (ECCV 2020) [paper] [code]
  • "TNT: Target-driveN Trajectory Prediction" (CoRL（Conference on Robot Learning）2020) [zhihu]
  • "VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representation" (CVPR 2020) [code] [zhihu]
  • "Multi-head attention for multi-modal joint vehicle motion forecasting" (ICRA 2020) [paper]
  • "MANTRA: Memory Augmented Networks for Multiple Trajectory Prediction" (CVPR 2020) [paper]
  • "Reciprocal Learning Networks for Human Trajectory Prediction" (CVPR 2020 human) [paper]
  • "MotionNet: Joint Perception and Motion Prediction for Autonomous Driving Based on Bird's Eye View Maps" (CVPR 2020) [paper] [code]
  • "STINet: Spatio-Temporal-Interactive Network for Pedestrian Detection and Trajectory Prediction" (CVPR 2020 human) [paper]
  • "Recursive Social Behavior Graph for Trajectory Prediction" (CVPR 2020 human) [paper]
  • "Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Prediction" (CVPR 2020 human) [paper]
  • "PnPNet: End-to-End Perception and Prediction with Tracking in the Loop" (CVPR 2020) [paper]
  • "The Garden of Forking Paths: Towards Multi-Future Trajectory Prediction" (CVPR 2020 human) [paper] [website] [code]
  • "Generative Hybrid Representations for Activity Forecasting with No-Regret Learning" (CVPR 2020 reasoning objects) [paper]

leaderboard&benchmark

Evaluation Metric

  • Average Displacement Error (ADE)
  • Final Displacement Error (FDE)
  • minADEk & minFDEk :For a set of K predicted trajectories
  • Miss Rate (MR)

argoverse benchmark

  • TPNet: Trajectory Proposal Network for Motion Prediction [CVPR2020] [paper]
  • Multi-Head Attention for Multi-Modal Joint Vehicle Motion Forecasting [ICRA2020] [paper]
  • LaneGCN: Learning Lane Graph Representations for Motion Forecasting [ECCV2020] [paper] [code]
  • LaneRCNN: Distributed Representations for Graph-Centric Motion Forecasting [paper]
  • TNT [CVPR2020]
  • VectorNet [CVPR2020] [zhihu] [paper] [code]

Lane Change Detection/Intention prediction

关键字

  • Manoeuvre Intention
  • intent prediction
  • lane change

paper list

  • "A survey on motion prediction and risk assessment for intelligent vehicles" (2014) [paper]
  • "Long short term memory for driver intent prediction" (IEEE Intelligent Vehicles Symposium (IV) 2017) [paper]
  • "Generalizable intention prediction of human drivers at intersections" (IEEE Intelligent Vehicles Symposium (IV) 2017) [paper]
  • "Convolution neural network-based lane change intention prediction of surrounding vehicles" (ITSC 2017) [paper]
  • "Predicting Vehicle Behaviors Over An Extended Horizon Using Behavior Interaction Network" (ICRA 2019) [paper]
  • "Continuous Control for Automated Lane Change Behavior Based on Deep Deterministic Policy Gradient Algorithm" [paper]
  • "On-Road Vehicle Trajectory Collection and Scene-Based Lane Change Analysis: Part II" [[paper](https://www.sci-hub.ren/10.1109/TITS.2016.2571724]]
  • "An ensemble deep learning approach for driver lane change intention inference" [paper]
  • "A data-driven lane-changing model based on deep learning" [paper]
  • "Simultaneous modeling of car-following and lane-changing behaviors using deep learning" [paper]

project list

Human trajectory prediction

key word

paper list

  • Peeking Into the Future: Predicting Future Person Activities and Locations in Videos [CVPR2019] [paper] [code]
  • Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks [CVPR2018] [paper] [code]

参考