ParkPredict: Motion and Intent Prediction of Vehicles in Parking Lots
This addresses the problem of autonomous vehicle navigation in complex, interactive parking environments, but it is incremental as it builds on existing prediction methods.
The paper tackled predicting driver behavior in unstructured parking lots by comparing LSTM and CNN-LSTM models to a physics-based baseline, achieving roughly 85% top-1 accuracy for intent estimation and showing that knowledge of the intended parking spot improves trajectory predictions.
We investigate the problem of predicting driver behavior in parking lots, an environment which is less structured than typical road networks and features complex, interactive maneuvers in a compact space. Using the CARLA simulator, we develop a parking lot environment and collect a dataset of human parking maneuvers. We then study the impact of model complexity and feature information by comparing a multi-modal Long Short-Term Memory (LSTM) prediction model and a Convolution Neural Network LSTM (CNN-LSTM) to a physics-based Extended Kalman Filter (EKF) baseline. Our results show that 1) intent can be estimated well (roughly 85% top-1 accuracy and nearly 100% top-3 accuracy with the LSTM and CNN-LSTM model); 2) knowledge of the human driver's intended parking spot has a major impact on predicting parking trajectory; and 3) the semantic representation of the environment improves long term predictions.