Hendrik Königshof

Julian Wörmann, Daniel Bogdoll, Christian Brunner et al.

The availability of representative datasets is an essential prerequisite for many successful artificial intelligence and machine learning models. However, in real life applications these models often encounter scenarios that are inadequately represented in the data used for training. There are various reasons for the absence of sufficient data, ranging from time and cost constraints to ethical considerations. As a consequence, the reliable usage of these models, especially in safety-critical applications, is still a tremendous challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches. Knowledge augmented machine learning approaches offer the possibility of compensating for deficiencies, errors, or ambiguities in the data, thus increasing the generalization capability of the applied models. Even more, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-driven models with existing knowledge. The identified approaches are structured according to the categories knowledge integration, extraction and conformity. In particular, we address the application of the presented methods in the field of autonomous driving.

Royden Wagner, Ömer Sahin Tas, Marlon Steiner et al.

Self-driving vehicles rely on multimodal motion forecasts to effectively interact with their environment and plan safe maneuvers. We introduce SceneMotion, an attention-based model for forecasting scene-wide motion modes of multiple traffic agents. Our model transforms local agent-centric embeddings into scene-wide forecasts using a novel latent context module. This module learns a scene-wide latent space from multiple agent-centric embeddings, enabling joint forecasting and interaction modeling. The competitive performance in the Waymo Open Interaction Prediction Challenge demonstrates the effectiveness of our approach. Moreover, we cluster future waypoints in time and space to quantify the interaction between agents. We merge all modes and analyze each mode independently to determine which clusters are resolved through interaction or result in conflict. Our implementation is available at: https://github.com/kit-mrt/future-motion

Hendrik Königshof, Kun Li, Christoph Stiller

Image-based 3D object detection is an inevitable part of autonomous driving because cheap onboard cameras are already available in most modern cars. Because of the accurate depth information, currently, most state-of-the-art 3D object detectors heavily rely on LiDAR data. In this paper, we propose a pipeline which lifts the results of existing vision-based 2D algorithms to 3D detections using only cameras as a cost-effective alternative to LiDAR. In contrast to existing approaches, we focus not only on cars but on all types of road users. To the best of our knowledge, we are the first using a 2D CNN to process the point cloud for each 2D detection to keep the computational effort as low as possible. Our evaluation on the challenging KITTI 3D object detection benchmark shows results comparable to state-of-the-art image-based approaches while having a runtime of only a third.

Wei Zhan, Liting Sun, Di Wang et al.

Behavior-related research areas such as motion prediction/planning, representation/imitation learning, behavior modeling/generation, and algorithm testing, require support from high-quality motion datasets containing interactive driving scenarios with different driving cultures. In this paper, we present an INTERnational, Adversarial and Cooperative moTION dataset (INTERACTION dataset) in interactive driving scenarios with semantic maps. Five features of the dataset are highlighted. 1) The interactive driving scenarios are diverse, including urban/highway/ramp merging and lane changes, roundabouts with yield/stop signs, signalized intersections, intersections with one/two/all-way stops, etc. 2) Motion data from different countries and different continents are collected so that driving preferences and styles in different cultures are naturally included. 3) The driving behavior is highly interactive and complex with adversarial and cooperative motions of various traffic participants. Highly complex behavior such as negotiations, aggressive/irrational decisions and traffic rule violations are densely contained in the dataset, while regular behavior can also be found from cautious car-following, stop, left/right/U-turn to rational lane-change and cycling and pedestrian crossing, etc. 4) The levels of criticality span wide, from regular safe operations to dangerous, near-collision maneuvers. Real collision, although relatively slight, is also included. 5) Maps with complete semantic information are provided with physical layers, reference lines, lanelet connections and traffic rules. The data is recorded from drones and traffic cameras. Statistics of the dataset in terms of number of entities and interaction density are also provided, along with some utilization examples in a variety of behavior-related research areas. The dataset can be downloaded via https://interaction-dataset.com.