# Convolutional Social Pooling for Vehicle Trajectory Prediction

arXiv: https://arxiv.org/abs/1805.06771 · HTML: https://mlsanity.com/paper/1805.06771/

## Key facts

- Cited by 221 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 May 2018.

## Built on by (most cited first, 30 of 221)

- [Multimodal Motion Prediction with Stacked Transformers](https://mlsanity.com/paper/2103.11624/) (2021)
- [Latent Variable Sequential Set Transformers For Joint Multi-Agent Motion Prediction](https://mlsanity.com/paper/2104.00563/) (2021)
- [GroupNet: Multiscale Hypergraph Neural Networks for Trajectory Prediction with Relational Reasoning](https://mlsanity.com/paper/2204.08770/) (2022)
- [LaneRCNN: Distributed Representations for Graph-Centric Motion Forecasting](https://mlsanity.com/paper/2101.06653/) (2021)
- [THOMAS: Trajectory Heatmap Output with learned Multi-Agent Sampling](https://mlsanity.com/paper/2110.06607/) (2021)
- [The Waymo Open Sim Agents Challenge](https://mlsanity.com/paper/2305.12032/) (2023)
- [LaPred: Lane-Aware Prediction of Multi-Modal Future Trajectories of Dynamic Agents](https://mlsanity.com/paper/2104.00249/) (2021)
- [ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning](https://mlsanity.com/paper/2206.13387/) (2022)
- [Learning to Predict Vehicle Trajectories with Model-based Planning](https://mlsanity.com/paper/2103.04027/) (2021)
- [Trajectory Prediction with Latent Belief Energy-Based Model](https://mlsanity.com/paper/2104.03086/) (2021)
- [LAformer: Trajectory Prediction for Autonomous Driving with Lane-Aware Scene Constraints](https://mlsanity.com/paper/2302.13933/) (2023)
- [Leveraging Future Relationship Reasoning for Vehicle Trajectory Prediction](https://mlsanity.com/paper/2305.14715/) (2023)
- [View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrums](https://mlsanity.com/paper/2110.07288/) (2021)
- [Social-Implicit: Rethinking Trajectory Prediction Evaluation and The Effectiveness of Implicit Maximum Likelihood Estimation](https://mlsanity.com/paper/2203.03057/) (2022)
- [RAIN: Reinforced Hybrid Attention Inference Network for Motion Forecasting](https://mlsanity.com/paper/2108.01316/) (2021)
- [Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Driving](https://mlsanity.com/paper/2109.12764/) (2021)
- [Spatio-Temporal Graph Dual-Attention Network for Multi-Agent Prediction and Tracking](https://mlsanity.com/paper/2102.09117/) (2021)
- [Uncertainty-aware State Space Transformer for Egocentric 3D Hand Trajectory Forecasting](https://mlsanity.com/paper/2307.08243/) (2023)
- [V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Prediction](https://mlsanity.com/paper/2412.01812/) (2024)
- [Dynamic-Group-Aware Networks for Multi-Agent Trajectory Prediction with Relational Reasoning](https://mlsanity.com/paper/2206.13114/) (2022)
- [BAT: Behavior-Aware Human-Like Trajectory Prediction for Autonomous Driving](https://mlsanity.com/paper/2312.06371/) (2023)
- [Fast Inference and Update of Probabilistic Density Estimation on Trajectory Prediction](https://mlsanity.com/paper/2308.08824/) (2023)
- [SocialCircle: Learning the Angle-based Social Interaction Representation for Pedestrian Trajectory Prediction](https://mlsanity.com/paper/2310.05370/) (2023)
- [SMEMO: Social Memory for Trajectory Forecasting](https://mlsanity.com/paper/2203.12446/) (2022)
- [Towards Explainable, Safe Autonomous Driving with Language Embeddings for Novelty Identification and Active Learning: Framework and Experimental Analysis with Real-World Data Sets](https://mlsanity.com/paper/2402.07320/) (2024)
- [R-Pred: Two-Stage Motion Prediction Via Tube-Query Attention-Based Trajectory Refinement](https://mlsanity.com/paper/2211.08609/) (2022)
- [CausalCity: Complex Simulations with Agency for Causal Discovery and Reasoning](https://mlsanity.com/paper/2106.13364/) (2021)
- [Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directions](https://mlsanity.com/paper/2307.07527/) (2023)
- [S2TNet: Spatio-Temporal Transformer Networks for Trajectory Prediction in Autonomous Driving](https://mlsanity.com/paper/2206.10902/) (2022)
- [AgentsCoMerge: Large Language Model Empowered Collaborative Decision Making for Ramp Merging](https://mlsanity.com/paper/2408.03624/) (2024)

## 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.