Conditional Prediction by Simulation for Automated Driving

• URL: http://arxiv.org/abs/2502.03286v1
• Date: Wed, 05 Feb 2025 15:44:06 GMT
• Title: Conditional Prediction by Simulation for Automated Driving
• Authors: Fabian Konstantinidis, Moritz Sackmann, Ulrich Hofmann, Christoph Stiller,
• Abstract summary: This work introduces a prediction model that models the conditional dependencies between trajectories. By assuming various candidate trajectories for the automated vehicle, we generate predictions conditioned on each of them.
• Score: 4.6557204473595055
• License:
• Abstract: Modular automated driving systems commonly handle prediction and planning as sequential, separate tasks, thereby prohibiting cooperative maneuvers. To enable cooperative planning, this work introduces a prediction model that models the conditional dependencies between trajectories. For this, predictions are generated by a microscopic traffic simulation, with the individual traffic participants being controlled by a realistic behavior model trained via Adversarial Inverse Reinforcement Learning. By assuming various candidate trajectories for the automated vehicle, we generate predictions conditioned on each of them. Furthermore, our approach allows the candidate trajectories to adapt dynamically during the prediction rollout. Several example scenarios are available at https://conditionalpredictionbysimulation.github.io/.

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