# Interpretable Goal-Based model for Vehicle Trajectory Prediction in Interactive Scenarios

arXiv: https://arxiv.org/abs/2308.04312 · HTML: https://mlsanity.com/paper/2308.04312/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 12 of its 26 references that are in the map.
- First posted on arXiv 8 Aug 2023.

## Builds on (most cited first, 12 of 12)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Prediction](https://mlsanity.com/paper/1910.05449/) (2019)
- [TNT: Target-driveN Trajectory Prediction](https://mlsanity.com/paper/2008.08294/) (2020)
- [DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agents](https://mlsanity.com/paper/1704.04394/) (2017)
- [INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps](https://mlsanity.com/paper/1910.03088/) (2019)
- [Human Trajectory Forecasting in Crowds: A Deep Learning Perspective](https://mlsanity.com/paper/2007.03639/) (2020)
- [Interpretable Social Anchors for Human Trajectory Forecasting in Crowds](https://mlsanity.com/paper/2105.03136/) (2021)
- [Imagining The Road Ahead: Multi-Agent Trajectory Prediction via Differentiable Simulation](https://mlsanity.com/paper/2104.11212/) (2021)
- [Variational Autoencoder-Based Vehicle Trajectory Prediction with an Interpretable Latent Space](https://mlsanity.com/paper/2103.13726/) (2021)
- [ReCoG: A Deep Learning Framework with Heterogeneous Graph for Interaction-Aware Trajectory Prediction](https://mlsanity.com/paper/2012.05032/) (2020)
- [GRIT: Fast, Interpretable, and Verifiable Goal Recognition with Learned Decision Trees for Autonomous Driving](https://mlsanity.com/paper/2103.06113/) (2021)

## Built on by (most cited first, 3 of 3)

- [Explainable AI for Safe and Trustworthy Autonomous Driving: A Systematic Review](https://mlsanity.com/paper/2402.10086/) (2024)
- [Goal-based Neural Physics Vehicle Trajectory Prediction Model](https://mlsanity.com/paper/2409.15182/) (2024)
- [Interpretable Long Term Waypoint-Based Trajectory Prediction Model](https://mlsanity.com/paper/2312.06219/) (2023)

## Abstract (arXiv)

The abilities to understand the social interaction behaviors between a vehicle and its surroundings while predicting its trajectory in an urban environment are critical for road safety in autonomous driving. Social interactions are hard to explain because of their uncertainty. In recent years, neural network-based methods have been widely used for trajectory prediction and have been shown to outperform hand-crafted methods. However, these methods suffer from their lack of interpretability. In order to overcome this limitation, we combine the interpretability of a discrete choice model with the high accuracy of a neural network-based model for the task of vehicle trajectory prediction in an interactive environment. We implement and evaluate our model using the INTERACTION dataset and demonstrate the effectiveness of our proposed architecture to explain its predictions without compromising the accuracy.