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

• Argoverse-motion-forecasting [Download-script]
• nuscenes
• In-house Pedestrian-at-Intersection dataset (PAID)
• INTERACTION-dataset
• Stanford-Drone-dataset-(SDD)
• kaggle-lyft-prediction

其他

• HighD dataset "2018 21st International Conference on Intelligent Transportation Systems (ITSC)" [link] [paper] [github] [format]
• inD dataset [link] [paper]
• round dataset [link] [paper]

资料

• 自动驾驶行为预测
• 行人的行为意图建模和预测

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

• Argoverse-Motion-Forecasting-Competition
• Forecast-baseline
• baselinetracker

Evaluation Metric

• Average Displacement Error (ADE)
• Final Displacement Error (FDE)
• minADE_k & minFDE_k :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

• "lane-change-prediction-lstm" [project]
• "DQN" [project]
• LC_NGSIM

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

• paper-with-code
• 轨迹预测相关资源列表
• kaggle