Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling

--V ehicle trajectory prediction is crucial for autonomous driving and advanced driver assistant systems. While existing approaches may sample from a predicted distribution of vehicle trajectories, they lack the ability to explore it - a key ability for evaluating safety from a planning and verification perspective. In this work, we devise a novel approach for generating realistic and diverse vehicle trajectories. We extend the generative adversarial network (GAN) framework with a low-dimensional approximate semantic space, and shape that space to capture semantics such as merging and turning. We sample from this space in a way that mimics the predicted distribution, but allows us to control coverage of semantically distinct outcomes. We validate our approach on a publicly available dataset and show results that achieve state of the art prediction performance, while providing improved coverage of the space of predicted trajectory semantics. V ehicle trajectory prediction is crucial for autonomous driving and advanced driver assistant systems. While existing literature relates to improving the accuracy of prediction [1]-[5], the diversity of the predicted trajectories [6], [7] must be explored.