mlsanityData to 7 Oct 2026

Probabilistic Vehicle Trajectory Prediction over Occupancy Grid Map via Recurrent Neural Network

arXiv 1704.07049 ↗First posted 24 Apr 2017cs.LGcited by 56

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Abstract (arXiv)

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 affected by various latent factors including road structure, traffic rules, and driver's intention. Previous state of the art approaches use sophisticated vehicle behavior model describing these factors and derive the complex trajectory prediction algorithm, which requires a system designer to conduct intensive model optimization for practical use. Our approach is data-driven and simple to use in that it learns complex behavior of the vehicles from the massive amount of trajectory data through deep neural network model. The proposed trajectory prediction method employs the recurrent neural network called long short-term memory (LSTM) to analyze the temporal behavior and predict the future coordinate of the surrounding vehicles. The proposed scheme feeds the sequence of vehicles' coordinates obtained from sensor measurements to the LSTM and produces the probabilistic information on the future location of the vehicles over occupancy grid map. The experiments conducted using the data collected from highway driving show that the proposed method can produce reasonably good estimate of future trajectory.

Key facts. Cited by 56 papers in the map (data through 7 Oct 2026). First posted on arXiv 24 Apr 2017.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2020: 1; 2021: 14; 2022: 9; 2023: 14; 2024: 9; 2025: 6; 2026: 3.

56 papers.

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  1. 2021View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrumscited by 44
  2. 2020Modeling Human Driving Behavior through Generative Adversarial Imitation Learningcited by 43
  3. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  4. 2022R-Pred: Two-Stage Motion Prediction Via Tube-Query Attention-Based Trajectory Refinementcited by 23
  5. 2022End-to-End Trajectory Distribution Prediction Based on Occupancy Grid Mapscited by 22
  6. 2021Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidancecited by 21
  7. 2023RSPT: Reconstruct Surroundings and Predict Trajectories for Generalizable Active Object Trackingcited by 16
  8. 2025Challenger: Affordable Adversarial Driving Video Generationcited by 16
  9. 2023Another Vertical View: A Hierarchical Network for Heterogeneous Trajectory Prediction via Spectrumscited by 14
  10. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  11. 2022Uncertainty estimation for Cross-dataset performance in Trajectory predictioncited by 13
  12. 2022Uncertainty estimation of pedestrian future trajectory using Bayesian approximationcited by 12
38 more
  1. 2023On Data Fabrication in Collaborative Vehicular Perception: Attacks and Countermeasurescited by 11
  2. 2023Graph-Based Interaction-Aware Multimodal 2D Vehicle Trajectory Prediction using Diffusion Graph Convolutional Networkscited by 10
  3. 2021Physically Feasible Vehicle Trajectory Predictioncited by 8
  4. 2021TIP: Task-Informed Motion Prediction for Intelligent Vehiclescited by 8
  5. 2022Aware of the History: Trajectory Forecasting with the Local Behavior Datacited by 8
  6. 2023Connected and Automated Vehicles in Mixed-Traffic: Learning Human Driver Behavior for Effective On-Ramp Mergingcited by 7
  7. 2024Physically Analyzable AI-Based Nonlinear Platoon Dynamics Modeling During Traffic Oscillation: A Koopman Approachcited by 7
  8. 2021Trajectory Prediction for Autonomous Driving with Topometric Mapcited by 6
  9. 2021Raising context awareness in motion forecastingcited by 6
  10. 2022Vehicle Trajectory Prediction on Highways Using Bird Eye View Representations and Deep Learningcited by 6
  11. 2022Dynamic Conditional Imitation Learning for Autonomous Drivingcited by 6
  12. 2023EnsembleFollower: A Hybrid Car-Following Framework Based On Reinforcement Learning and Hierarchical Planningcited by 6
  13. 2024SocialCircle+: Learning the Angle-based Conditioned Interaction Representation for Pedestrian Trajectory Predictioncited by 6
  14. 2022Trajectory Prediction for Vehicle Conflict Identification at Intersections Using Sequence-to-Sequence Recurrent Neural Networkscited by 5
  15. 2023A Novel Temporal Multi-Gate Mixture-of-Experts Approach for Vehicle Trajectory and Driving Intention Predictioncited by 5
  16. 2024Resonance: Learning to Predict Social-Aware Pedestrian Trajectories as Co-Vibrationscited by 5
  17. 2023SST: A Simplified Swin Transformer-based Model for Taxi Destination Prediction based on Existing Trajectorycited by 4
  18. 2024KI-GAN: Knowledge-Informed Generative Adversarial Networks for Enhanced Multi-Vehicle Trajectory Forecasting at Signalized Intersectionscited by 4
  19. 2021Maneuver-Aware Pooling for Vehicle Trajectory Predictioncited by 3
  20. 2023SAPI: Surroundings-Aware Vehicle Trajectory Prediction at Intersectionscited by 2
  21. 2023Decodable and Sample Invariant Continuous Object Encodercited by 2
  22. 2023Leveraging Driver Field-of-View for Multimodal Ego-Trajectory Predictioncited by 2
  23. 2021Maneuver-based Anchor Trajectory Hypotheses at Roundaboutscited by 1
  24. 2021OctoPath: An OcTree Based Self-Supervised Learning Approach to Local Trajectory Planning for Mobile Robotscited by 1
  25. 2021A Risk-Averse Preview-based Q-Learning Algorithm: Application to Highway Driving of Autonomous Vehiclescited by 1
  26. 2024Enhancing Next Destination Prediction: A Novel Long Short-Term Memory Neural Network Approach Using Real-World Airline Datacited by 1
  27. 2024PreGSU-A Generalized Traffic Scene Understanding Model for Autonomous Driving based on Pre-trained Graph Attention Networkcited by 1
  28. 2024MSMA: Multi-agent Trajectory Prediction in Connected and Autonomous Vehicle Environment with Multi-source Data Integrationcited by 1
  29. 2025STRAP: Spatial-Temporal Risk-Attentive Vehicle Trajectory Prediction for Autonomous Drivingcited by 1
  30. 2025Reverberation: Learning the Latencies Before Forecasting Trajectoriescited by 1
  31. 2021Predicting Vehicles' Longitudinal Trajectories and Lane Changes on Highway On-Rampscited by 0
  32. 2021A Socially Aware Reinforcement Learning Agent for The Single Track Road Problemcited by 0
  33. 2021Deep Learning based Urban Vehicle Trajectory Analyticscited by 0
  34. 2021Deep Generative Models for Vehicle Speed Trajectoriescited by 0
  35. 2022Mathematical Models of Human Drivers Using Artificial Risk Fieldscited by 0
  36. 2023Estimation of Vehicular Velocity based on Non-Intrusive stereo cameracited by 0
  37. 2023An enhanced motion planning approach by integrating driving heterogeneity and long-term trajectory prediction for automated driving systemscited by 0
  38. 2024Edge-Assisted ML-Aided Uncertainty-Aware Vehicle Collision Avoidance at Urban Intersectionscited by 0

50 most cited of 56 All 56 (JSON)