mlsanityData to 7 Oct 2026

How would surround vehicles move? A Unified Framework for Maneuver Classification and Motion Prediction

arXiv 1801.06523 ↗First posted 19 Jan 2018cs.CVcited by 46

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Abstract (arXiv)

Reliable prediction of surround vehicle motion is a critical requirement for path planning for autonomous vehicles. In this paper we propose a unified framework for surround vehicle maneuver classification and motion prediction that exploits multiple cues, namely, the estimated motion of vehicles, an understanding of typical motion patterns of freeway traffic and inter-vehicle interaction. We report our results in terms of maneuver classification accuracy and mean and median absolute error of predicted trajectories against the ground truth for real traffic data collected using vehicle mounted sensors on freeways. An ablative analysis is performed to analyze the relative importance of each cue for trajectory prediction. Additionally, an analysis of execution time for the components of the framework is presented. Finally, we present multiple case studies analyzing the outputs of our model for complex traffic scenarios

Key facts. Cited by 46 papers in the map (data through 7 Oct 2026). First posted on arXiv 19 Jan 2018.

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Citing papers per year: 2020: 1; 2021: 16; 2022: 8; 2023: 11; 2024: 6; 2025: 3; 2026: 1.

46 papers.

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  1. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 112
  2. 2021Trajectory Prediction with Latent Belief Energy-Based Modelcited by 60
  3. 2021On Exposing the Challenging Long Tail in Future Prediction of Traffic Actorscited by 48
  4. 2020Modeling Human Driving Behavior through Generative Adversarial Imitation Learningcited by 43
  5. 2021LaneAF: Robust Multi-Lane Detection with Affinity Fieldscited by 41
  6. 2021Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Drivingcited by 36
  7. 2023Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and Priorscited by 36
  8. 2021Spatio-Temporal Graph Dual-Attention Network for Multi-Agent Prediction and Trackingcited by 35
  9. 2024Towards Explainable, Safe Autonomous Driving with Language Embeddings for Novelty Identification and Active Learning: Framework and Experimental Analysis with Real-World Data Setscited by 25
  10. 2023Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directionscited by 23
  11. 2021TrackMPNN: A Message Passing Graph Neural Architecture for Multi-Object Trackingcited by 21
  12. 2021Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidancecited by 21
34 more
  1. 2022Transferable and Adaptable Driving Behavior Predictioncited by 20
  2. 2021MSN: Multi-Style Network for Trajectory Predictioncited by 19
  3. 2022CSCNet: Contextual Semantic Consistency Network for Trajectory Prediction in Crowded Spacescited by 18
  4. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  5. 2023Boosting Offline Reinforcement Learning for Autonomous Driving with Hierarchical Latent Skillscited by 13
  6. 2021Decoder Fusion RNN: Context and Interaction Aware Decoders for Trajectory Predictioncited by 12
  7. 2022Accelerating Reinforcement Learning for Autonomous Driving using Task-Agnostic and Ego-Centric Motion Skillscited by 12
  8. 2022KEMP: Keyframe-Based Hierarchical End-to-End Deep Model for Long-Term Trajectory Predictioncited by 11
  9. 2023EPG-MGCN: Ego-Planning Guided Multi-Graph Convolutional Network for Heterogeneous Agent Trajectory Predictioncited by 10
  10. 2022Holistic Transformer: A Joint Neural Network for Trajectory Prediction and Decision-Making of Autonomous Vehiclescited by 8
  11. 2023Attention-aware Social Graph Transformer Networks for Stochastic Trajectory Predictioncited by 8
  12. 2021Vehicle Behavior Prediction and Generalization Using Imbalanced Learning Techniquescited by 7
  13. 2021Online Adaptation of Neural Network Models by Modified Extended Kalman Filter for Customizable and Transferable Driving Behavior Predictioncited by 6
  14. 2022Trajectory Prediction for Vehicle Conflict Identification at Intersections Using Sequence-to-Sequence Recurrent Neural Networkscited by 5
  15. 2021Hierarchical Motion Encoder-Decoder Network for Trajectory Forecastingcited by 4
  16. 2022Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planningcited by 4
  17. 2023PeRP: Personalized Residual Policies For Congestion Mitigation Through Co-operative Advisory Systemscited by 4
  18. 2024GRANP: A Graph Recurrent Attentive Neural Process Model for Vehicle Trajectory Predictioncited by 3
  19. 2024Building Real-time Awareness of Out-of-distribution in Trajectory Prediction for Autonomous Vehiclescited by 3
  20. 2025Large Foundation Models for Trajectory Prediction in Autonomous Driving: A Comprehensive Surveycited by 3
  21. 2021A Driving Behavior Recognition Model with Bi-LSTM and Multi-Scale CNNcited by 2
  22. 2023A Hierarchical Hybrid Learning Framework for Multi-agent Trajectory Predictioncited by 2
  23. 2023Interaction-Aware Personalized Vehicle Trajectory Prediction Using Temporal Graph Neural Networkscited by 2
  24. 2021Spatio-Temporal Look-Ahead Trajectory Prediction using Memory Neural Networkcited by 1
  25. 2023Patterns of Vehicle Lights: Addressing Complexities in Curation and Annotation of Camera-Based Vehicle Light Datasets and Metricscited by 1
  26. 2023CPSOR-GCN: A Vehicle Trajectory Prediction Method Powered by Emotion and Cognitive Theorycited by 1
  27. 2024MSMA: Multi-agent Trajectory Prediction in Connected and Autonomous Vehicle Environment with Multi-source Data Integrationcited by 1
  28. 2021A LiDAR Assisted Control Module with High Precision in Parking Scenarios for Autonomous Driving Vehiclecited by 0
  29. 2022Monocular Vision-based Prediction of Cut-in Maneuvers with LSTM Networkscited by 0
  30. 2023Robust Detection, Association, and Localization of Vehicle Lights: A Context-Based Cascaded CNN Approach and Evaluationscited by 0
  31. 2024Multi-agent Traffic Prediction via Denoised Endpoint Distributioncited by 0
  32. 2024Reputation-Driven Asynchronous Federated Learning for Enhanced Trajectory Prediction with Blockchaincited by 0
  33. 2025EMT: A Visual Multi-Task Benchmark Dataset for Autonomous Drivingcited by 0
  34. 2026A Dynamic Scene Interaction Reasoning Framework for Scene-level Lane-Change Intention and Trajectory Prediction of Multiple Interacting Vehiclescited by 0