ParkPredict+

ParkPredict+: Multimodal Intent and Motion Prediction for Vehicles in Parking Lots with CNN and Transformer

IEEE International Conference on Intelligent Transportation Systems (ITSC) 2022

Xu Shen, Matthew Lacayo, Nidhir Guggilla, and Francesco Borrelli

Abstract

The problem of multimodal intent and trajectory prediction for human-driven vehicles in parking lots is addressed in this paper. Using models designed with CNN and Transformer networks, we extract temporal-spatial and contextual information from trajectory history and local bird’s eye view (BEV) semantic images, and generate predictions about intent distribution and future trajectory sequences. Our methods outperforms existing models in accuracy, while allowing an arbitrary number of modes, encoding complex multiagent scenarios, and adapting to different parking maps. In addition, we present the first public human driving dataset in parking lot with high resolution and rich traffic scenarios for relevant research in this field.

Citation

@inproceedings{shen2022parkpredict+,

  title={Parkpredict+: Multimodal intent and motion prediction for vehicles in parking lots with cnn and transformer},

  author={Shen, Xu and Lacayo, Matthew and Guggilla, Nidhir and Borrelli, Francesco},

  booktitle={2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)},

  pages={3999--4004},

  year={2022},

  organization={IEEE}

}