# Vehicle Trajectory Prediction in Crowded Highway Scenarios Using Bird Eye View Representations and CNNs

arXiv: https://arxiv.org/abs/2008.11493 · HTML: https://mlsanity.com/paper/2008.11493/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Aug 2020.

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

- [SCOUT: Socially-COnsistent and UndersTandable Graph Attention Network for Trajectory Prediction of Vehicles and VRUs](https://mlsanity.com/paper/2102.06361/) (2021)
- [Predicting Vehicles Trajectories in Urban Scenarios with Transformer Networks and Augmented Information](https://mlsanity.com/paper/2106.00559/) (2021)
- [Testing predictive automated driving systems: lessons learned and future recommendations](https://mlsanity.com/paper/2205.10115/) (2022)
- [Vehicle Trajectory Prediction on Highways Using Bird Eye View Representations and Deep Learning](https://mlsanity.com/paper/2207.01407/) (2022)

## Abstract (arXiv)

This paper describes a novel approach to perform vehicle trajectory predictions employing graphic representations. The vehicles are represented using Gaussian distributions into a Bird Eye View. Then the U-net model is used to perform sequence to sequence predictions. This deep learning-based methodology has been trained using the HighD dataset, which contains vehicles' detection in a highway scenario from aerial imagery. The problem is faced as an image to image regression problem training the network to learn the underlying relations between the traffic participants. This approach generates an estimation of the future appearance of the input scene, not trajectories or numeric positions. An extra step is conducted to extract the positions from the predicted representation with subpixel resolution. Different network configurations have been tested, and prediction error up to three seconds ahead is in the order of the representation resolution. The model has been tested in highway scenarios with more than 30 vehicles simultaneously in two opposite traffic flow streams showing good qualitative and quantitative results.