Authors: Nachiket Deo, Eric M. Wolff, Oscar Beijbom
Published: Sept. 15, 2021
Summary: Accurately predicting the future motion of surrounding vehicles requires reasoning about the inherent uncertainty in driving behavior. This uncertainty can be loosely decoupled into lateral (e.g., keeping lane, turning) and longitudinal (e.g., accelerating, braking). We present a novel method that combines learned discrete policy rollouts with a focused decoder on subsets of the lane graph.