mlsanityData to 7 Oct 2026

Convolutional Social Pooling for Vehicle Trajectory Prediction

arXiv 1805.06771 ↗First posted 15 May 2018cs.CVcited by 221

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Abstract (arXiv)

Forecasting the motion of surrounding vehicles is a critical ability for an autonomous vehicle deployed in complex traffic. Motion of all vehicles in a scene is governed by the traffic context, i.e., the motion and relative spatial configuration of neighboring vehicles. In this paper we propose an LSTM encoder-decoder model that uses convolutional social pooling as an improvement to social pooling layers for robustly learning interdependencies in vehicle motion. Additionally, our model outputs a multi-modal predictive distribution over future trajectories based on maneuver classes. We evaluate our model using the publicly available NGSIM US-101 and I-80 datasets. Our results show improvement over the state of the art in terms of RMS values of prediction error and negative log-likelihoods of true future trajectories under the model's predictive distribution. We also present a qualitative analysis of the model's predicted distributions for various traffic scenarios.

Key facts. Cited by 221 papers in the map (data through 7 Oct 2026). First posted on arXiv 15 May 2018.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 46; 2022: 31; 2023: 55; 2024: 41; 2025: 28; 2026: 20.

221 papers.

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  1. 2021Multimodal Motion Prediction with Stacked Transformerscited by 207
  2. 2021Latent Variable Sequential Set Transformers For Joint Multi-Agent Motion Predictioncited by 131
  3. 2022GroupNet: Multiscale Hypergraph Neural Networks for Trajectory Prediction with Relational Reasoningcited by 128
  4. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 112
  5. 2021THOMAS: Trajectory Heatmap Output with learned Multi-Agent Samplingcited by 101
  6. 2023The Waymo Open Sim Agents Challengecited by 86
  7. 2021LaPred: Lane-Aware Prediction of Multi-Modal Future Trajectories of Dynamic Agentscited by 64
  8. 2021Learning to Predict Vehicle Trajectories with Model-based Planningcited by 63
  9. 2022ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planningcited by 63
  10. 2021Trajectory Prediction with Latent Belief Energy-Based Modelcited by 60
  11. 2023LAformer: Trajectory Prediction for Autonomous Driving with Lane-Aware Scene Constraintscited by 50
  12. 2023Leveraging Future Relationship Reasoning for Vehicle Trajectory Predictioncited by 47
38 more
  1. 2021View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrumscited by 44
  2. 2022Social-Implicit: Rethinking Trajectory Prediction Evaluation and The Effectiveness of Implicit Maximum Likelihood Estimationcited by 40
  3. 2021RAIN: Reinforced Hybrid Attention Inference Network for Motion Forecastingcited by 36
  4. 2021Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Drivingcited by 36
  5. 2021Spatio-Temporal Graph Dual-Attention Network for Multi-Agent Prediction and Trackingcited by 35
  6. 2023Uncertainty-aware State Space Transformer for Egocentric 3D Hand Trajectory Forecastingcited by 33
  7. 2024V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Predictioncited by 31
  8. 2022Dynamic-Group-Aware Networks for Multi-Agent Trajectory Prediction with Relational Reasoningcited by 28
  9. 2023BAT: Behavior-Aware Human-Like Trajectory Prediction for Autonomous Drivingcited by 28
  10. 2023Fast Inference and Update of Probabilistic Density Estimation on Trajectory Predictioncited by 27
  11. 2023SocialCircle: Learning the Angle-based Social Interaction Representation for Pedestrian Trajectory Predictioncited by 27
  12. 2022SMEMO: Social Memory for Trajectory Forecastingcited by 26
  13. 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
  14. 2021CausalCity: Complex Simulations with Agency for Causal Discovery and Reasoningcited by 23
  15. 2022R-Pred: Two-Stage Motion Prediction Via Tube-Query Attention-Based Trajectory Refinementcited by 23
  16. 2023Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directionscited by 23
  17. 2022S2TNet: Spatio-Temporal Transformer Networks for Trajectory Prediction in Autonomous Drivingcited by 22
  18. 2024AgentsCoMerge: Large Language Model Empowered Collaborative Decision Making for Ramp Mergingcited by 22
  19. 2021Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidancecited by 21
  20. 2022CRAT-Pred: Vehicle Trajectory Prediction with Crystal Graph Convolutional Neural Networks and Multi-Head Self-Attentioncited by 21
  21. 2023EquiDiff: A Conditional Equivariant Diffusion Model For Trajectory Predictioncited by 21
  22. 2024Multi-Transmotion: Pre-trained Model for Human Motion Predictioncited by 21
  23. 2021Variational Autoencoder-Based Vehicle Trajectory Prediction with an Interpretable Latent Spacecited by 20
  24. 2024Multi-Agent Dynamic Relational Reasoning for Social Robot Navigationcited by 20
  25. 2024A Cognitive-Based Trajectory Prediction Approach for Autonomous Drivingcited by 20
  26. 2021MSN: Multi-Style Network for Trajectory Predictioncited by 19
  27. 2021Trajectory Prediction with Graph-based Dual-scale Context Fusioncited by 19
  28. 2023MTP-GO: Graph-Based Probabilistic Multi-Agent Trajectory Prediction with Neural ODEscited by 19
  29. 2021Injecting Knowledge in Data-driven Vehicle Trajectory Predictorscited by 18
  30. 2021MVFuseNet: Improving End-to-End Object Detection and Motion Forecasting through Multi-View Fusion of LiDAR Datacited by 18
  31. 2021SCOUT: Socially-COnsistent and UndersTandable Graph Attention Network for Trajectory Prediction of Vehicles and VRUscited by 16
  32. 2021Euro-PVI: Pedestrian Vehicle Interactions in Dense Urban Centerscited by 16
  33. 2021DeepTrack: Lightweight Deep Learning for Vehicle Path Prediction in Highwayscited by 16
  34. 2022Action-based Contrastive Learning for Trajectory Predictioncited by 15
  35. 2021Video action recognition for lane-change classification and prediction of surrounding vehiclescited by 14
  36. 2022Interaction Modeling with Multiplex Attentioncited by 14
  37. 2023Holistic Network Virtualization and Pervasive Network Intelligence for 6Gcited by 14
  38. 2023Another Vertical View: A Hierarchical Network for Heterogeneous Trajectory Prediction via Spectrumscited by 14

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