End-to-end interactive prediction and planning with optical flow distillation for autonomous driving

Hengli Wang, Peide Cai, Rui Fan, Yuxiang Sun, Ming Liu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)

Abstract

With the recent advancement of deep learning technology, data-driven approaches for autonomous car prediction and planning have achieved extraordinary performance. Nevertheless, most of these approaches follow a non-interactive prediction and planning paradigm, hypothesizing that a vehicle's behaviors do not affect others. The approaches based on such a non-interactive philosophy typically perform acceptably in sparse traffic scenarios but can easily fail in dense traffic scenarios. Therefore, we propose an end-to-end interactive neural motion planner (INMP) for autonomous driving in this paper. Given a set of past surrounding-view images and a high definition map, our INMP first generates a feature map in bird's-eye-view space, which is then processed to detect other agents and perform interactive prediction and planning jointly. Also, we adopt an optical flow distillation paradigm, which can effectively improve the network performance while still maintaining its real-time inference speed. Extensive experiments on the nuScenes dataset and in the closed-loop Carla simulation environment demonstrate the effectiveness and efficiency of our INMP for the detection, prediction, and planning tasks. Our project page is at sites.google.com/view/inmp-ofd.

Original languageEnglish
Title of host publicationProceedings - 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2021
PublisherIEEE Computer Society
Pages2229-2238
Number of pages10
ISBN (Electronic)9781665448994
DOIs
Publication statusPublished - Jun 2021
Event2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2021 - Virtual, Online, United States
Duration: 19 Jun 202125 Jun 2021

Publication series

NameIEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops
ISSN (Print)2160-7508
ISSN (Electronic)2160-7516

Conference

Conference2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2021
Country/TerritoryUnited States
CityVirtual, Online
Period19/06/2125/06/21

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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