Abstract / Description of output
Motion prediction of road users in traffic scenes is critical for autonomous driving systems that must take safe and robust decisions in complex dynamic environments. We present a novel motion prediction system for autonomous driving. Our system is based on the Bayesian inverse planning framework, which efficiently orchestrates map-based goal extraction, a classical control-based trajectory generator and an ensemble of light-weight neural networks specialised in motion profile prediction. In contrast to many alternative methods, this modularity helps isolate performance factors and better interpret results, without compromising performance. This system addresses multiple aspects of interest, namely multi-modality, motion profile uncertainty and trajectory physical feasibility. We report on several experiments with the popular highway dataset NGSIM, demonstrating state-of-the-art performance in terms of trajectory error. We also perform a detailed analysis of our system's components, along with experiments that stratify the data based on behaviours, such as change lane versus follow lane, to provide insights into the challenges in this domain. Finally, we present a qualitative analysis to show other benefits of our approach, such as the ability to interpret the outputs.
Original language | English |
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Title of host publication | Proceedings of the International Conference on Intelligent Robots and Systems (IROS) 2022 |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 9829-9836 |
Number of pages | 8 |
ISBN (Electronic) | 978-1-6654-7927-1 |
ISBN (Print) | 978-1-6654-7928-8 |
DOIs | |
Publication status | Published - 26 Dec 2022 |
Event | The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems - Kyoto, Japan Duration: 23 Oct 2022 → 27 Oct 2022 https://iros2022.org/ |
Publication series
Name | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
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Publisher | IEEE |
ISSN (Print) | 2153-0858 |
ISSN (Electronic) | 2153-0866 |
Conference
Conference | The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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Abbreviated title | IROS 2022 |
Country/Territory | Japan |
City | Kyoto |
Period | 23/10/22 → 27/10/22 |
Internet address |