A Recurrent Neural Network Solution for Predicting Driver Intention at Unsignalized Intersections

In this letter, we present a system capable of inferring intent from observed vehicles traversing an unsignalized intersection, a task critical for the safe driving of autonomous vehicles, and beneficial for advanced driver assistance systems. We present a prediction method based on recurrent neural networks that takes data from a Lidar-based tracking system similar to those expected in future smart vehicles. The model is validated on a roundabout, a popular style of unsignalized intersection in urban areas. We also present a very large naturalistic dataset recorded in a typical intersection during two days of operation. This comprehensive dataset is used to demonstrate the performance of the algorithm introduced in this letter. The system produces excellent results, giving a significant 1.3-s prediction window before any potential conflict occurs.

• Publication year

  2018

• Venue

  IEEE Robotics and Automation Letters

• Publication date

  2018-02-12

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1109/LRA.2018.2805314
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• Modeling driver behavior at roundabouts: Results from a field study

  2017cited by this paper
• Generalizable intention prediction of human drivers at intersections

  2017cited by this paper
• Long short term memory for driver intent prediction

  2017cited by this paper
• Surround vehicles trajectory analysis with recurrent neural networks

  2016cited by this paper
• Social LSTM: Human Trajectory Prediction in Crowded Spaces

  2016cited by this paper
• Recurrent Neural Networks for driver activity anticipation via sensory-fusion architecture

  2015cited by this paper
• On surveillance for safety critical events: In-vehicle video networks for predictive driver assistance systems

  2015cited by this paper
• Prediction of driver intended path at intersections

  2014cited by this paper
• The Ko-PER intersection laserscanner and video dataset

  2014cited by this paper
• Long short-term memory recurrent neural network architectures for large scale acoustic modeling

  2014cited by this paper
• Driving behavior at a roundabout: A hierarchical Bayesian regression analysis

  2014cited by this paper
• Assessment of the effectiveness of on-road bicycle lanes at roundabouts in Australia and New Zealand

  2014cited by this paper
• A survey on motion prediction and risk assessment for intelligent vehicles

  2014cited by this paper
• Recurrent Neural Network Regularization

  2014cited by this paper
• Author manuscript, published in "IEEE Intelligent Vehicles Symposium (2013)" Learning-Based Approach for Online Lane Change Intention Prediction

  2013cited by this paper
• Efficient Estimation of Word Representations in Vector Space

  2013cited by this paper
• May I enter the roundabout? A time-to-contact computation based on stereo-vision

  2012cited by this paper
• ADADELTA: An Adaptive Learning Rate Method

  2012influential reference
• Tracking oncoming and turning vehicles at intersections

  2010cited by this paper
• Driver intention inference with vehicle onboard sensors

  2009cited by this paper
• A high integrity navigation architecture for outdoor autonomous vehicles

  1999cited by this paper
• A high integrity IMU/GPS navigation loop for autonomous land vehicle applications

  1999cited by this paper

• MaTVT: A Transformer-Based Approach for Multi-Agent Prediction in Complex Traffic Scenarios

  2026cites this paper
• A Survey of Autonomous Driving Trajectory Prediction: Methodologies, Challenges, and Future Prospects

  2025cites this paper
• A Learning-Based Stochastic Model Predictive Control Method for Online Trajectory Control of Autonomous Vehicles at an Unsignalized Intersection

  2025cites this paper
• A Hybrid Input based Deep Reinforcement Learning for Lane Change Decision-Making of Autonomous Vehicle

  2025cites this paper
• Human-Like Robot Action Policy Through Game-Theoretic Intent Inference for Human–Robot Collaboration

  2025cites this paper
• Transformer-Based Vehicle-Trajectory Prediction at Urban Low-Speed T-Intersection

  2025cites this paper
• Efficient Multiscale Hybrid Cross-Learning Deep Neural Networks With Spatiotemporal Fusion for Vehicle Behavior Prediction

  2025cites this paper
• MSTD: A multimodal vehicle trajectory prediction method based on multi-level spatiotemporal decoupling

  2025cites this paper
• Generalizable Trajectory Prediction via Inverse Reinforcement Learning with Mamba-Graph Architecture

  2025cites this paper
• End-to-End Visual Autonomous Parking via Control-Aided Attention

  2025cites this paper
• CPCROK: A Communication-Efficient and Privacy-Preserving Scheme for Low-Density Vehicular Ad Hoc Networks

  2025cites this paper
• Interaction-Aware and Driving Style-Aware Trajectory Prediction for Heterogeneous Vehicles in Mixed Traffic Environment

  2025cites this paper
• A Double-Layer LSTM Model Based on Driving Style and Adaptive Grid for Intention-Trajectory Prediction

  2025cites this paper
• Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directions

  2025cites this paper
• Individualized Driving Intention Prediction With Inverse Reinforcement Learning

  2025cites this paper
• Lane Change Prediction for Autonomous Driving With Transferred Trajectory Interaction

  2025cites this paper
• Self-Distillation Attention for Efficient and Accurate Motion Prediction in Autonomous Driving

  2025cites this paper
• Deep Learning Method Based on Multiscale Enhanced Feature Fusion for Vehicle Behavior Prediction

  2025cites this paper
• Fully Interactive Graph-Based Trajectory Prediction via Topological Scenario Representation

  2025cites this paper
• Intention Recognition for Space Non-cooperative Targets Using Kolmogorov-Arnold Transformer

  2025cites this paper
• Vehicle Lane Change Intention Recognition Based on Maximum Entropy Inverse Reinforcement Learning

  2025influential citation
• Vehicle Behavior Recognition and Trajectory Prediction Based on Spatiotemporal Feature Fusion

  2025cites this paper
• Explainable Vehicle Activity Recognition: Qualitative and Quantitative Approaches

  2025cites this paper
• Research on Dynamic Shift Control Strategy for Heavy-Duty Vehicles Based on Driving Intention Recognition

  2025cites this paper
• Predictive Preference Learning from Human Interventions

  2025cites this paper
• Hybrid data-model driven trajectory prediction on highways: Integrating anticipatory interaction awareness and personalized driving preferences

  2025cites this paper
• Semi-Supervised Prediction of Multimodal Vehicle Trajectory Based on Transformers

  2025cites this paper
• Dynamic Aware: Adaptive Multi-Mode Out-of-Distribution Detection for Trajectory Prediction in Autonomous Vehicles

  2025cites this paper
• Trajectory and Motion Prediction of Autonomous Vehicles Driving Assistant System using Distributed Discriminator Based Bi-Directional Long Short Term Memory Model

  2024cites this paper
• Multimodal Trajectory Prediction for Diverse Vehicle Types in Autonomous Driving with Heterogeneous Data and Physical Constraints

  2024cites this paper
• C2INet: Realizing Incremental Trajectory Prediction with Prior-Aware Continual Causal Intervention

  2024cites this paper
• Predictive classification of pedestrian-vehicle crossing behaviors using a hybrid mountain gazelle optimizer-enhanced Long Short-Term Memory model

  2024cites this paper
• Trajectory Prediction for Autonomous Driving Using Agent-Interaction Graph Embedding

  2024cites this paper
• Cooperative Trajectory Prediction Using IVC and Accuracy-Aware Attention with Inaccurate GPS Data

  2024cites this paper
• Multicolumn Self-Attention GRU Model for Intersection Vehicle Trajectory Prediction

  2024cites this paper
• Research on Vehicle-Driving-Trajectory Prediction Methods by Considering Driving Intention and Driving Style

  2024cites this paper
• Autonomous Driving at Unsignalized Intersections: A Review of Decision-Making Challenges and Reinforcement Learning-Based Solutions

  2024cites this paper
• Spatio-Temporal-Interaction Graph Neural Networks for Multi-Agent Trajectory Prediction

  2024cites this paper
• Enhancing Driving Behavior Analysis in Autonomous Systems: A Reservoir Computing and Temporal-Aware Machine Learning Approach

  2024cites this paper
• MART: MultiscAle Relational Transformer Networks for Multi-agent Trajectory Prediction

  2024cites this paper
• Review of Vehicle Behavior Prediction for Intelligent Driving Systems in Highway Scenarios

  2024cites this paper
• Continual Learning for Motion Prediction Model via Meta-Representation Learning and Optimal Memory Buffer Retention Strategy

  2024cites this paper
• VGA: A Virtual-interaction-force Graph Attention Model for Agent Trajectory Prediction in Traffic Scenarios

  2024cites this paper
• E-DNet: An End-to-End Dual-Branch Network for Driver Steering Intention Detection

  2024cites this paper
• Lane changing maneuver prediction by using driver's spatio-temporal gaze attention inputs for naturalistic driving

  2024cites this paper
• Modeling the Lane-Change Reactions to Merging Vehicles for Highway On-Ramp Simulations

  2024cites this paper
• GRANP: A Graph Recurrent Attentive Neural Process Model for Vehicle Trajectory Prediction

  2024cites this paper
• LC-LLM: Explainable Lane-Change Intention and Trajectory Predictions with Large Language Models

  2024cites this paper
• Argo Buoy Trajectory Prediction: Multi-Scale Ocean Driving Factors and Time–Space Attention Mechanism

  2024cites this paper
• Designing deep neural networks for driver intention recognition

  2024cites this paper
• Lane change trajectory prediction considering driving style uncertainty for autonomous vehicles

  2024cites this paper
• Prediction of Drivers' Red-Light Running Behaviour in Connected Vehicle Environments Using Deep Recurrent Neural Networks

  2024cites this paper
• Ensemble deep learning-based lane-changing behavior prediction of manually driven vehicles in mixed traffic environments

  2023cites this paper
• A review of vehicle lane change research

  2023cites this paper
• A Novel Approach to Conflict-free Vehicle Scheduling of Unsignalized Intersection based on Heuristic Algorithm

  2023cites this paper
• Enhanced Social Trajectory Prediction Transformer for L3 Highway Pilots

  2023cites this paper
• An End-To-End System For Road Agent Behavior Classification

  2023cites this paper
• Traffic Modeling Based on Data-Driven Method for Simulation Test of Autonomous Driving

  2023cites this paper
• Multimodal Data Trajectory Prediction: A Review

  2023cites this paper
• STS-DGNN: Vehicle Trajectory Prediction via Dynamic Graph Neural Network With Spatial–Temporal Synchronization

  2023cites this paper
• Learning Road Scene-level Representations via Semantic Region Prediction

  2023cites this paper
• A bidirectional trajectory contrastive learning model for driving intention prediction

  2023cites this paper
• Vehicle Trajectory Prediction Based on Graph Convolutional Networks in Connected Vehicle Environment

  2023cites this paper
• Three Player Interactions in Urban Settings: Design Challenges for Autonomous Vehicles

  2023cites this paper
• MVHGN: Multi-View Adaptive Hierarchical Spatial Graph Convolution Network Based Trajectory Prediction for Heterogeneous Traffic-Agents

  2023cites this paper
• Prediction of brake pedal aperture for automatic wheel loader based on Deep LSTM RNN

  2023cites this paper
• Trajectory Prediction of Neighboring Vehicles via Periodic Beaconing with Inaccurate GPS Data

  2023cites this paper
• Temporal Information Fusion Network for Driving Behavior Prediction

  2023cites this paper
• Safety of autonomous vehicles: A survey on Model-based vs. AI-based approaches

  2023cites this paper
• Ego‐planning‐guided multi‐graph convolutional network for heterogeneous agent trajectory prediction

  2023cites this paper
• Emergency Braking Distance Prediction in Autonomous Vehicles

  2023cites this paper
• A Deep Learning-Based Approach for Vehicle Motion Prediction in Autonomous Driving

  2023cites this paper
• Continual Driver Behaviour Learning for Connected Vehicles and Intelligent Transportation Systems: Framework, Survey and Challenges

  2023cites this paper
• Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directions

  2023cites this paper
• Role of context in determining transfer of risk knowledge in roundabouts

  2023cites this paper
• Advent of Artificial Intelligence in Automotive Engineering

  2023cites this paper
• Analysis of Driver Behavior in Mixed Autonomous and Non-autonomous Traffic Flows

  2022cites this paper
• Simulation of dispersion effects by considering interactions of pedestrians and bicyclists using an agent space model

  2022cites this paper
• Dashboard Layout Effects on Drivers' Searching Performance and Heart Rate: Experimental Investigation and Prediction

  2022cites this paper
• Vehicle Pair Activity Classification using QTC and Long Short Term Memory Neural Network

  2022influential citation
• Design of an Estimator Using the Artificial Neural Network Technique to Characterise the Braking of a Motor Vehicle

  2022cites this paper
• Scenario Understanding and Motion Prediction for Autonomous Vehicles—Review and Comparison

  2022cites this paper
• STGM: Vehicle Trajectory Prediction Based on Generative Model for Spatial-Temporal Features

  2022cites this paper
• Conditional Variational Autoencoder Networks for Autonomous Vehicle Path Prediction

  2022cites this paper
• A Survey on Trajectory-Prediction Methods for Autonomous Driving

  2022cites this paper
• Trajectory Prediction for Autonomous Driving Using Spatial-Temporal Graph Attention Transformer

  2022cites this paper
• Machine-learning-based hybrid recognition approach for longitudinal driving behavior in noisy environment

  2022cites this paper
• Deep understanding of big geospatial data for self-driving: Data, technologies, and systems

  2022cites this paper
• Kernelized convolutional transformer network based driver behavior estimation for conflict resolution at unsignalized roundabout.

  2022cites this paper
• Review and Perspectives on Driver Digital Twin and Its Enabling Technologies for Intelligent Vehicles

  2022cites this paper
• Attention-Based Lane Change and Crash Risk Prediction Model in Highways

  2022cites this paper
• An Ensemble Model for Lane Change Intention Inference for Autonomous Driving

  2022cites this paper
• Review of Decision-Making and Planning Approaches in Automated Driving

  2022cites this paper
• Use of Social Interaction and Intention to Improve Motion Prediction Within Automated Vehicle Framework: A Review

  2022cites this paper
• Quick intention identification of an enemy aerial target through information classification processing

  2022cites this paper
• Vehicle Motion Prediction Algorithm Based on Artificial Potential Field Correction and Fuzzy C-Mean Driving Intention Classification

  2022cites this paper
• Combining Deep Learning and Game Theory for Path Planning in Autonomous Racing Cars

  2022cites this paper
• SIA-Net: Scalable Interaction-Aware Network for Vehicle Trajectory Prediction Based on Self-Attention

  2022cites this paper
• A Driving Intention Prediction Method for Mixed Traffic Scenarios

  2022cites this paper
• Decision-Making and Planning Method for Autonomous Vehicles Based on Motivation and Risk Assessment

  2021cites this paper