# Deep Learning Based Motion Planning For Autonomous Vehicle Using Spatiotemporal LSTM Network

arXiv: https://arxiv.org/abs/1903.01712 · HTML: https://mlsanity.com/paper/1903.01712/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 5 Mar 2019.

## Built on by (most cited first, 4 of 4)

- [Improving Generalization of Transfer Learning Across Domains Using Spatio-Temporal Features in Autonomous Driving](https://mlsanity.com/paper/2103.08116/) (2021)
- [Bayesian Optimization and Deep Learning forsteering wheel angle prediction](https://mlsanity.com/paper/2110.13629/) (2021)
- [MIND-Stack: Modular, Interpretable, End-to-End Differentiability for Autonomous Navigation](https://mlsanity.com/paper/2505.21734/) (2025)
- [Real-Time Obstacle Avoidance for a Mobile Robot Using CNN-Based Sensor Fusion](https://mlsanity.com/paper/2509.08095/) (2025)

## Abstract (arXiv)

Motion Planning, as a fundamental technology of automatic navigation for the autonomous vehicle, is still an open challenging issue in the real-life traffic situation and is mostly applied by the model-based approaches. However, due to the complexity of the traffic situations and the uncertainty of the edge cases, it is hard to devise a general motion planning system for the autonomous vehicle. In this paper, we proposed a motion planning model based on deep learning (named as spatiotemporal LSTM network), which is able to generate a real-time reflection based on spatiotemporal information extraction. To be specific, the model based on spatiotemporal LSTM network has three main structure. Firstly, the Convolutional Long-short Term Memory (Conv-LSTM) is used to extract hidden features through sequential image data. Then, the 3D Convolutional Neural Network(3D-CNN) is applied to extract the spatiotemporal information from the multi-frame feature information. Finally, the fully connected neural networks are used to construct a control model for autonomous vehicle steering angle. The experiments demonstrated that the proposed method can generate a robust and accurate visual motion planning results for the autonomous vehicle.