mlsanityData to 14 Oct 2026

Multi-Modal Trajectory Prediction of Surrounding Vehicles with Maneuver based LSTMs

arXiv 1805.05499 ↗First posted 15 May 2018cs.CVcited by 77

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Abstract (arXiv)

To safely and efficiently navigate through complex traffic scenarios, autonomous vehicles need to have the ability to predict the future motion of surrounding vehicles. Multiple interacting agents, the multi-modal nature of driver behavior, and the inherent uncertainty involved in the task make motion prediction of surrounding vehicles a challenging problem. In this paper, we present an LSTM model for interaction aware motion prediction of surrounding vehicles on freeways. Our model assigns confidence values to maneuvers being performed by vehicles and outputs a multi-modal distribution over future motion based on them. We compare our approach with the prior art for vehicle motion prediction on the publicly available NGSIM US-101 and I-80 datasets. Our results show an improvement in terms of RMS values of prediction error. We also present an ablative analysis of the components of our proposed model and analyze the predictions made by the model in complex traffic scenarios.

Key facts. Cited by 77 papers in the map (data through 14 Oct 2026). First posted on arXiv 15 May 2018.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2020: 1; 2021: 23; 2022: 11; 2023: 17; 2024: 13; 2025: 6; 2026: 6.

77 papers.

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  1. 2021GOHOME: Graph-Oriented Heatmap Output for future Motion Estimationcited by 146
  2. 2022ViP3D: End-to-end Visual Trajectory Prediction via 3D Agent Queriescited by 117
  3. 2022M2I: From Factored Marginal Trajectory Prediction to Interactive Predictioncited by 81
  4. 2022ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planningcited by 64
  5. 2021Stepwise Goal-Driven Networks for Trajectory Predictioncited by 62
  6. 2021Trajectory Prediction with Latent Belief Energy-Based Modelcited by 60
  7. 2021On Exposing the Challenging Long Tail in Future Prediction of Traffic Actorscited by 48
  8. 2021Spectral Temporal Graph Neural Network for Trajectory Predictioncited by 36
  9. 2021Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Drivingcited by 36
  10. 2024LC-LLM: Explainable Lane-Change Intention and Trajectory Predictions with Large Language Modelscited by 35
  11. 2022SSL-Lanes: Self-Supervised Learning for Motion Forecasting in Autonomous Drivingcited by 32
  12. 2023BAT: Behavior-Aware Human-Like Trajectory Prediction for Autonomous Drivingcited by 28
38 more
  1. 2022SMEMO: Social Memory for Trajectory Forecastingcited by 26
  2. 2023I-24 MOTION: An instrument for freeway traffic sciencecited by 26
  3. 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
  4. 2021CausalCity: Complex Simulations with Agency for Causal Discovery and Reasoningcited by 23
  5. 2023Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directionscited by 23
  6. 2021Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidancecited by 21
  7. 2021Grouptron: Dynamic Multi-Scale Graph Convolutional Networks for Group-Aware Dense Crowd Trajectory Forecastingcited by 19
  8. 2024Enhancing Autonomous Vehicle Training with Language Model Integration and Critical Scenario Generationcited by 19
  9. 2021Propagating State Uncertainty Through Trajectory Forecastingcited by 17
  10. 2021Causal-based Time Series Domain Generalization for Vehicle Intention Predictioncited by 17
  11. 2021Video action recognition for lane-change classification and prediction of surrounding vehiclescited by 14
  12. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  13. 2021Trajectory Prediction with Linguistic Representationscited by 13
  14. 2021HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Samplingcited by 12
  15. 2022RAP: Risk-Aware Prediction for Robust Planningcited by 12
  16. 2023EPG-MGCN: Ego-Planning Guided Multi-Graph Convolutional Network for Heterogeneous Agent Trajectory Predictioncited by 10
  17. 2023Graph-Based Interaction-Aware Multimodal 2D Vehicle Trajectory Prediction using Diffusion Graph Convolutional Networkscited by 10
  18. 2024MATRIX: Multi-Agent Trajectory Generation with Diverse Contextscited by 9
  19. 2020Imitation Learning of Hierarchical Driving Model: from Continuous Intention to Continuous Trajectorycited by 8
  20. 2021SUPR-GAN: SUrgical PRediction GAN for Event Anticipation in Laparoscopic and Robotic Surgerycited by 7
  21. 2023Multimodal Manoeuvre and Trajectory Prediction for Automated Driving on Highways Using Transformer Networkscited by 7
  22. 2023Connected and Automated Vehicles in Mixed-Traffic: Learning Human Driver Behavior for Effective On-Ramp Mergingcited by 7
  23. 2024Dreaming to Assist: Learning to Align with Human Objectives for Shared Control in High-Speed Racingcited by 7
  24. 2022Vehicle Trajectory Prediction on Highways Using Bird Eye View Representations and Deep Learningcited by 6
  25. 2023From Model-Based to Data-Driven Simulation: Challenges and Trends in Autonomous Drivingcited by 6
  26. 2023Trajectory Prediction with Observations of Variable-Length for Motion Planning in Highway Merging scenarioscited by 6
  27. 2024Hypergraph-based Motion Generation with Multi-modal Interaction Relational Reasoningcited by 6
  28. 2021Hierarchical Motion Encoder-Decoder Network for Trajectory Forecastingcited by 4
  29. 2023SST: A Simplified Swin Transformer-based Model for Taxi Destination Prediction based on Existing Trajectorycited by 4
  30. 2024Hierarchical Light Transformer Ensembles for Multimodal Trajectory Forecastingcited by 4
  31. 2021Generating Synthetic Training Data for Deep Learning-Based UAV Trajectory Predictioncited by 3
  32. 2022Trajectory Forecasting on Temporal Graphscited by 3
  33. 2022Lane Change Classification and Prediction with Action Recognition Networkscited by 3
  34. 2022Calibrating Perception Uncertainty for Autonomous Drivingcited by 3
  35. 2023A Novel Deep Neural Network for Trajectory Prediction in Automated Vehicles Using Velocity Vector Fieldcited by 3
  36. 2023Probabilistic Sampling of Balanced K-Means using Adiabatic Quantum Computingcited by 3
  37. 2024Building Real-time Awareness of Out-of-distribution in Trajectory Prediction for Autonomous Vehiclescited by 3
  38. 2021Vehicle trajectory prediction in top-view image sequences based on deep learning methodcited by 2

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